Biomimetic artificial finger, fixture, and method for manufacturing biomimetic artificial finger

Abstract

The application relates to the technical field of bionic machinery, and provides a bionic finger, a clamp and a manufacturing method of the bionic finger. The bionic finger comprises a skin, an elastic body, a rigid support and a liquid delivery pipe, the skin is provided with a first liquid outlet hole; the elastic body is wrapped and installed in the skin, the elastic body is provided with a second liquid outlet hole, and the rigid support is wrapped and installed in the skin; the side of the first end of the liquid delivery pipe is provided with a third liquid outlet hole, the third liquid outlet hole, the second liquid outlet hole and the first liquid outlet hole are communicated, and the second end of the liquid delivery pipe extends to the outside of the skin. When the skin of the bionic finger contacts a grabbed object, liquid can flow from the second end of the liquid delivery pipe located outside the skin to the first end of the liquid delivery pipe located inside the skin, sequentially pass through the third liquid outlet hole, the second liquid outlet hole and the first liquid outlet hole, reach between the skin and the grabbed object, change the friction coefficient between the bionic finger and the grabbed object, and further change the friction force of the two, so that the technical problem that the friction force of the bionic finger cannot be adjusted is solved.

Description

Technical Field

[0001] This invention relates to the field of bionic mechanical technology, and in particular to a bionic finger, a clamp, and a method for manufacturing the bionic finger. Background Technology

[0002] Bionic machinery is a cutting-edge technology in modern development, including bionic animals, bionic robotic arms, and bionic fingers. Currently, the friction between bionic fingers and the object being grasped is fixed during the grasping process. This means that if the friction is too low, the object is easily slipped; if the friction is too high, the object is easily flattened or deformed, making it impossible to use appropriate force to grasp the object.

[0003] Therefore, existing bionic fingers have the technical problem of not being able to adjust friction. Summary of the Invention

[0004] The purpose of this invention is to provide a bionic finger, a clamp, and a method for manufacturing a bionic finger, aiming to solve the technical problem that the friction of existing bionic fingers cannot be adjusted.

[0005] In a first aspect, this application provides a bionic finger, the bionic finger comprising:

[0006] The epidermis has a first liquid outlet pore;

[0007] An elastomer is encapsulated and installed in the skin, and the elastomer has a second liquid outlet hole that communicates with the first liquid outlet hole.

[0008] A rigid support member, which is encapsulated and installed within the skin;

[0009] A liquid delivery tube, the first end of which is wrapped and installed in the skin, the first end of which is supported between the rigid support and the elastic body, the side of the first end of which has a third liquid outlet hole, the third liquid outlet hole and the second liquid outlet hole are connected, and the second end of which extends to the outside of the skin.

[0010] Secondly, this application provides a clamp comprising an opening and closing drive member and at least two of the aforementioned bionic fingers, wherein the opening and closing drive member is connected to the bionic fingers to drive the at least two of the bionic fingers to move closer to or further away from each other.

[0011] Thirdly, this application provides a method for manufacturing the bionic finger described above, the method comprising the following steps:

[0012] Provide an epidermis with a first liquid outlet pore;

[0013] An elastomer is mounted on one surface of the skin, and the elastomer at least covers a portion of the first liquid outlet hole;

[0014] The first end of the liquid delivery tube is installed on the side of the elastomer away from the epidermis, and the second end of the liquid delivery tube is located outside the epidermis;

[0015] Install the rigid support member into the liquid delivery pipe;

[0016] The skin is folded so that it covers the elastomer, the first end of the delivery tube, and the rigid support.

[0017] The beneficial effects of the bionic finger, gripper, and manufacturing method of the bionic finger provided by this invention are as follows: When the epidermis of the bionic finger contacts the object being grasped, polar or non-polar liquids such as bionic sweat, pure water, salt water, or oil can flow from the second end of the liquid delivery tube located outside the epidermis to the first end of the liquid delivery tube located inside the epidermis, and then sequentially through the third liquid outlet, the second liquid outlet, and the first liquid outlet to reach the area between the epidermis and the object being grasped, thereby changing the coefficient of friction between the bionic finger and the object being grasped, and thus changing the frictional force between them, solving the technical problem that the frictional force of existing bionic fingers cannot be adjusted. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a bionic finger provided in an embodiment of the present invention;

[0020] Figure 2 A physical image of the bionic finger provided for the embodiment;

[0021] Figure 3 A physical image of the epidermis of the bionic finger provided for the embodiment;

[0022] Figure 4 A partial, twenty-fold magnification image of the epidermis of the bionic finger provided in the embodiment;

[0023] Figure 5 A partial, 50x magnification image of the epidermis of the bionic finger provided in the embodiment;

[0024] Figure 6 A schematic diagram of the rigid support component for the bionic finger provided in the embodiment;

[0025] Figure 7Another structural schematic diagram of the rigid support member of the bionic finger provided in the embodiment;

[0026] Figure 8 A physical image of the rigid support component of the bionic finger provided in the embodiment;

[0027] Figure 9 Another physical image of the rigid support component for the bionic finger provided in the embodiment;

[0028] Figure 10 A graph showing the average frictional force of a dry human finger;

[0029] Figure 11 A test graph showing the average frictional force of a dry, bionic finger;

[0030] Figure 12 A graph showing the average frictional force of a semi-dry human finger;

[0031] Figure 13 A graph showing the average friction force of a wet human finger;

[0032] Figure 14 A graph showing the average friction force of a dry human finger on a glass surface;

[0033] Figure 15 Test graph showing the average frictional force of a bionic finger on glass under different water volumes supplied by an injection pump;

[0034] Figure 16 The test graph shows the change in average friction force of the bionic finger with the amount of water injected.

[0035] Figure 17 A graph showing the average friction of a dry human finger on leather.

[0036] Figure 18 A test diagram showing the average friction force of a dry, bionic finger on leather.

[0037] Figure 19 Test graph showing the average frictional force of a bionic finger on leather under different water volumes supplied by an injection pump;

[0038] Figure 20 Test graph showing the average coefficient of friction of a bionic finger on leather material under different water volumes supplied by an injection pump;

[0039] Figure 21 A schematic diagram of the fixture provided in the embodiment;

[0040] Figure 22 A schematic flowchart illustrating the method for preparing the bionic finger provided in this embodiment;

[0041] Figure 23 A schematic diagram of the process for providing the skin in the manufacturing method provided in the embodiment;

[0042] Figure 24 A physical image of the molding die provided for the embodiment;

[0043] Figure 25 This is a photograph of the punching component placed on the molding die in the embodiment.

[0044] Figure 26 A physical image of the punching component provided in the embodiment.

[0045] The following are the labeling elements in the figure:

[0046] 10. Bionic finger; 20. Clamp; 21. Opening and closing drive component; 30. Molding mold; 31. Molding groove; 40. Drilling component; 41. First microneedle; 42. Roller; 43. Handle;

[0047] 100. Surface; 110. First liquid outlet; 120. Patterned groove; 130. Mounting groove;

[0048] 200, Elastomer; 210, Second liquid outlet;

[0049] 300. Rigid support component; 310. Support groove; 311. First support surface; 312. Second support surface; 313. Third support surface; 320. Rigid support plane; 330. Rigid support arc surface; 331. Cylindrical arc surface; 332. Spherical arc surface;

[0050] 400. Liquid feeding pipe; 401. First end; 402. Second end; 410. Third liquid outlet hole;

[0051] 500. Rigid sheet. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below, examples of which are illustrated 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 intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] Throughout this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0054] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] Example 1

[0058] In response to the technical problem that existing bionic fingers cannot adjust the friction force when grasping objects, the inventors of this application have conducted an in-depth analysis of the tribological mechanism of bionic fingers.

[0059] Referring to equation (1), according to Amunden's law of friction, the frictional force F between the contact surfaces of two objects is... f It is linearly proportional to the applied load N and also linearly proportional to the roughness of the contact surface, expressed by the coefficient of friction. express.

[0060]

[0061] However, Amonton's law of friction applies to macroscopic friction but not to the calculation of frictional forces in the nanoscale contact of a bionic finger. According to the Bowden-Taber law of friction, frictional force is directly proportional to the actual contact area. Furthermore, frictional force is also related to the shear strength of the lubricating film between the contact surfaces of two objects. Especially under boundary lubrication conditions, the shear strength of the lubricating film has a significant impact on frictional force. Moreover, human fingers sweat in real-world conditions, meaning there is a lubricating film between the human finger and the object being grasped. Therefore, the inventors plan to adjust the frictional force by changing the lubrication state between the bionic finger and the object being grasped, thus better reflecting the frictional force of a real human finger.

[0062] Combination Figure 1 The bionic finger 10 provided in this application includes an epidermis 100, an elastomer 200, a rigid support 300, and a liquid delivery tube 400. The epidermis 100 has a first liquid outlet 110. The elastomer 200 is encased and installed in the epidermis 100, and the elastomer 200 has a second liquid outlet 210, which communicates with the first liquid outlet 110. The rigid support 300 is encased and installed in the epidermis 100. The first end 401 of the liquid delivery tube 400 is encased and installed in the epidermis 100, and the first end 401 of the liquid delivery tube 400 is supported between the rigid support 300 and the elastomer 200. The side of the first end 401 of the liquid delivery tube 400 has a third liquid outlet 410, which communicates with the second liquid outlet 210. The second end 402 of the liquid delivery tube 400 extends to the outside of the epidermis 100.

[0063] When the skin 100 of the bionic finger 10 comes into contact with the object being grasped, liquid can flow from the second end 402 of the liquid delivery tube 400 located outside the skin 100 to the first end 401 of the liquid delivery tube 400 located inside the skin 100, and then through the third liquid outlet 410, the second liquid outlet 210 and the first liquid outlet 110 to reach the area between the skin 100 and the object being grasped, thereby changing the lubrication state and friction coefficient between the bionic finger 10 and the object being grasped, and thus adjusting the friction between the bionic finger 10 and the object being grasped.

[0064] In this embodiment, the liquid can be a polar or non-polar liquid such as biomimetic sweat, purified water, saline solution, or oil, and can be a mixture of two or more liquids; no specific limitation is made here. The liquid can be introduced into the delivery pipe 400 via a power pump. For example, a syringe pump can be used to deliver a constant and controllable amount of liquid into the delivery pipe 400. The syringe pump includes a reservoir and a movable piston; the former stores the liquid, and the latter controls the liquid delivery.

[0065] Figure 2This is a physical diagram of the bionic finger 10 provided in the embodiment. The epidermis 100 corresponds to the skin of the bionic finger 10, the elastic element corresponds to the tissue of the bionic finger 10, the rigid support 300 corresponds to the bone of the bionic finger 10, and the liquid delivery tube 400 corresponds to the blood vessels of the bionic finger 10. The epidermis 100 encloses the elastic body 200, the rigid support 300, and the liquid delivery tube 400. The second end 402 of the liquid delivery tube 400 protrudes from the epidermis 100 for injecting external liquid. The rigid support 300 can be completely enclosed within the epidermis 100 or partially protruding outside the epidermis 100.

[0066] The bionic finger 10 provided in this embodiment can simulate the sweating of the fingers and can be applied to various scenarios to achieve multiple uses. In some scenarios, the bionic finger 10 can control friction through liquid dispensing to achieve reliable grasping. For example, by controlling the friction, it can grasp objects of different types, stiffnesses, and sizes, without damaging the grasped object due to excessive friction or causing it to slip off due to insufficient friction. In some scenarios, because the coefficient of friction between the bionic finger 10 and different types of grasped objects varies under the same lubrication conditions, the bionic finger 10 can measure the coefficient of friction with the grasped object through liquid dispensing, thereby achieving surface recognition of the grasped object. In some scenarios, the bionic finger 10 can simulate sweating, more realistically mimicking the actual behavior of human fingers, and can replace human fingers for scientific research or simulating human behaviors such as touching.

[0067] In some embodiments, the skin 100 covers and sleeves the elastomer 200, the rigid support 300, and the liquid delivery tube 400. The skin 100 is folded to form a sleeve.

[0068] In some embodiments, the main material of the skin 100 includes at least one selected from silicone, polyurethane, acrylate, natural rubber, silicone, fluorinated silicone, styrene-based thermoplastic elastomers, and latex. That is, the skin 100 may be composed of one or more of silicone, polyurethane, acrylate, and latex, and may also be composed of other auxiliary materials. The auxiliary materials may be colored pigments, which also allow the skin 100 to display different skin tones. The combined mass of silicone, polyurethane, acrylate, and latex accounts for more than 50% of the mass of the skin 100.

[0069] Specifically, the main material of Epidermis 100 is silicone. First, silicone is an inorganic-organic polymer containing Si, O, C, and H, as well as other secondary elements. Silicone resin alone has a refractive index and color similar to skin, and these can be further adjusted by combining it with other substances and different material structures. Second, silicone can also allow for surface regeneration, producing the surface morphology of finger skin. Third, silicone-based models can be used to simulate various properties and are characterized by ease of processing, non-toxicity, and long-term stability. From a materials science perspective, the skin of a real finger is a highly complex, actively open system composed of highly heterogeneous and anisotropic composite materials. Skin also actively exchanges mass and heat with the body and environment. Therefore, using silicone as the main material to prepare Epidermis 100 can achieve properties similar to finger skin.

[0070] Specifically, the main material of the epidermis 100 is polyurethane. Because polyurethane is a highly malleable material, it can be made into a model with a skin-like texture and elasticity, which can well simulate the skin of the fingers.

[0071] Specifically, the main material of the skin 100 is acrylic ester, a transparent material that can be mixed with flexible materials to create a soft, skin-like skin 100. The transparent skin 100 allows workers to easily access and operate the bionic finger 10.

[0072] Specifically, the main material of the epidermis 100 is latex, which is soft, elastic and transparent, making it suitable for preparing simulated skin.

[0073] Figure 3 The epidermis 100, made by the inventor using silicone as the main material, is soft, elastic, and has micropores (i.e., the first liquid outlet pore 110), which can simulate human skin. Figure 4 This is a close-up image of the epidermis magnified 20 times (100x magnification). Figure 5 A magnified 50x image of the epidermis 100 shows the first liquid outlet 110 circled in dashed lines. The inventors confirmed that water could pass through the first liquid outlet 110 by dripping water onto the epidermis 100 using a dropper, which created sufficient pressure for the water to fall. Without pressure, water cannot pass through the first liquid outlet 110. The high surface tension of the epidermis 100 was identified as the cause of this phenomenon, confirming the expected result: the liquid outlet function can be controlled by applying water pressure.

[0074] In this embodiment, the number of first liquid outlet holes 110 can be one or more. The first liquid outlet holes 110 can be distributed at various locations on the epidermis 100, or they can be distributed on the side of the epidermis 100 that is in contact with the object being grasped. The first liquid outlet holes 110 can be formed naturally during the material forming process, or they can be artificially obtained by puncturing with the first microneedle 41 described below.

[0075] In one embodiment, combined with Figure 1 The number of first liquid outlet holes 110 is greater than 3, so as to increase the liquid outlet area of ​​the epidermis 100 and increase the maximum liquid outlet volume, so that the bionic finger 10 can control the liquid outlet rate over a larger range and has a wider range of applications.

[0076] Multiple first liquid outlet holes 110 can be distributed on the epidermis 100 at preset pattern intervals. For example, the multiple first liquid outlet holes 110 can be arranged in a rectangular array, a circular array, or a zigzag pattern. For example, the multiple first liquid outlet holes 110 can be arranged in a fingerprint shape to form multiple nested circles.

[0077] In one embodiment, combined with Figure 1 The depth direction of the first liquid outlet 110 is approximately perpendicular to the length direction X of the liquid delivery pipe 400. In other words, the angle between the depth direction of the first liquid outlet 110 and the length direction X of the liquid delivery pipe 400 can be 80° to 100°. When there are multiple first liquid outlets 110, the depth directions of the multiple first liquid outlets 110 can be all the same or not all the same.

[0078] Specifically, in Figure 1 In the cross-section of the bionic finger 10 shown, the depth direction of the first liquid outlet 110 is the same as the radial direction Z of the liquid delivery tube 400, and the radial direction Z is perpendicular to the length direction X. Multiple first liquid outlets 110 are distributed at intervals along the length direction X to achieve uniform liquid discharge and uniform distribution of friction between the bionic finger 10 and the object being grasped.

[0079] In one embodiment, the diameter of the first liquid outlet 110 is 40μm to 1000μm, so that the first liquid outlet 110 has the characteristics of a capillary, which enables the formation of Laplace pressure between the bionic finger 10 and the object being grasped, so that the two attract each other and realize the grasping action.

[0080] Optionally, the diameter of the first liquid outlet hole 110 is 40μm, 60μm, 100μm, 500μm or 1000μm.

[0081] It is understood that in other embodiments, the aperture of the first liquid outlet 110 may also be 30μm, 1100μm or 1200μm.

[0082] In one embodiment, the skin 100 is embedded with conductive particles, and the skin 100 has the conductivity of human skin, which can be used for identification of charged scenes, etc.

[0083] In the preparation of the skin 100, conductive particles can be added as auxiliary materials to the main material of the skin 100.

[0084] Optionally, the conductive particles are CNT (Carbon Nanotube) particles, which possess high flexibility, electrical conductivity, and thermal conductivity, enhancing the strength and stiffness of the skin 100 and improving its electrical and thermal conductivity. It is understood that in other embodiments, the conductive particles may also be particles made of conductive materials such as graphene particles, silver nanowires, copper powder particles, silver powder particles, and iron powder particles.

[0085] In one embodiment, combined with Figure 1 The outer surface of the skin 100 is provided with patterned grooves 120, and the end of the first liquid outlet 110 is connected to the patterned grooves 120. After the liquid enters the patterned grooves 120 through the first liquid outlet 110, it comes into contact with the object being grasped. The patterned grooves 120 can increase the contact area of ​​the liquid and improve the uniformity of friction.

[0086] Specifically, the patterned grooves 120 are arranged in the shape of a fingerprint, forming multiple nested circles, which can more realistically simulate the behavior of a finger grasping or touching an object. It is understood that in other embodiments, the shape of the patterned grooves 120 can also be geometric shapes, animal shapes, or bird shapes, etc., and is not limited here.

[0087] In some embodiments, the main material of the elastomer 200 includes at least one of sponge, thermoplastic rubber, and thermoplastic vulcanized rubber, which can simulate the elasticity of tissue to enable the bionic finger 10 to elastically touch or grasp objects. These materials readily form a porous structure, capable of generating a second fluid outlet pore 210. The elastomer 200 may be composed of one or more of sponge, thermoplastic rubber, and thermoplastic vulcanized rubber, or it may be composed of one or more of sponge, thermoplastic rubber, and thermoplastic vulcanized rubber, along with other auxiliary materials. The combined mass of the sponge, thermoplastic rubber, and thermoplastic vulcanized rubber accounts for more than 50% of the mass of the elastomer 200.

[0088] Specifically, the main material of elastomer 200 is polyurethane foam. The density of the polyurethane foam can be selected as 0.09 g / cm³. -3 It has a porous structure that allows liquid to pass through and a Young's modulus E similar to that of finger tissue. The Young's modulus of finger tissue is approximately 0.04 MPa, while that of finger tissue is 0.09 g·cm³. -3 The Young's modulus of polyurethane foam is approximately 0.08 MPa.

[0089] In this embodiment, the number of second liquid outlet holes 210 can be one or more. The second liquid outlet holes 210 can be distributed at various locations on the elastomer 200, or they can be distributed on the side of the second liquid outlet hole 210 that is in contact with the epidermis 100. The second liquid outlet holes 210 can be formed naturally during the material molding process, or they can be artificially obtained by puncturing with the second microneedle described below.

[0090] In some embodiments, combined with Figure 1 The diameter of the second liquid outlet 210 is larger than that of the first liquid outlet 110 to facilitate the smooth flow of liquid.

[0091] In some embodiments, the pore size of the second liquid outlet 210 is 1μm to 1000μm, so that the second liquid outlet 210 has capillary characteristics, and the liquid can be adsorbed in the second liquid outlet 210. It will not directly impact the skin 100 due to the pore size being too large, nor will it be difficult for the skin 100 to discharge liquid due to the pore size being too small.

[0092] Optionally, the pore size of the second liquid outlet 210 is 1 μm, 50 μm, 100 μm, 300 μm, 500 μm, or 1000 μm. It is understood that in other embodiments, the pore size of the second liquid outlet 210 may also be 1100 μm or 1200 μm.

[0093] In one embodiment, combined with Figure 1 The number of second liquid outlet holes 210 is greater than 3 to increase the maximum liquid output and ensure the liquid supply to the epidermis 100.

[0094] In one embodiment, combined with Figure 1 The depth direction of the second liquid outlet 210 is approximately perpendicular to the length direction X of the liquid delivery pipe 400. In other words, the angle between the depth direction of the second liquid outlet 210 and the length direction X of the liquid delivery pipe 400 can be 80° to 100°. When there are multiple second liquid outlets 210, the depth directions of the multiple second liquid outlets 210 can be all the same or not all the same.

[0095] Specifically, in Figure 1 In the cross-section of the bionic finger 10 shown, the depth direction of the second liquid outlet 210 is the same as the radial direction Z of the liquid delivery tube 400. Multiple second liquid outlets 210 are distributed at intervals along the length direction X, so as to uniformly supply liquid to the first liquid outlet 110, making the hydraulic pressure on the skin 100 uniform, and the outer surface shape of the flexible skin 100 remains relatively stable.

[0096] In one embodiment, combined with Figure 1There is a gap between the second liquid outlet 210 and the first liquid outlet 110, which forms a buffer. Liquid passing through the second liquid outlet 210 will not flow directly into the first liquid outlet 110, but will enter the first liquid outlet 110 along the inner surface of the skin 100.

[0097] In one embodiment, the surface of the elastomer 200 refers to its inner and outer surfaces. The surface of the elastomer 200 includes a hydrophobic surface and a hydrophilic surface; for example, the hydrophobic surface is provided with a hydrophobic layer to prevent liquid from easily wetting it. The pore wall of the second liquid outlet 210 is located on the hydrophilic surface. When liquid falls onto the elastomer 200, it can be guided towards the hydrophilic surface. The second liquid outlet 210, located on the hydrophilic surface, can absorb the liquid and guide it to the epidermis 100 via the hydrophobic surface. Thus, the hydrophobic surface allows liquid on the elastomer 200 to flow directionally into the second liquid outlet 210, controlling liquid flow and mixing, and also preventing the adhesion of non-specific cells.

[0098] Specifically, a hydrophobic agent is used to soak one surface of the elastomer 200 near the epidermis 100 to maintain its texture and reduce the water absorption rate of the elastomer 200. A second microneedle is inserted into the second liquid outlet pore 210, causing the elastomer 200 to form both a hydrophobic and a hydrophilic surface, with the pore wall of the second liquid outlet pore 210 being the hydrophilic surface. Optionally, the hydrophobic agent is polydimethylsiloxane (PDMS). Due to the presence of methyl groups and siloxane bonds in the PDMS molecular structure, its surface has a low surface energy, causing water molecules to form spherical droplets on its surface instead of spreading out.

[0099] It is understood that in other embodiments, the hydrophobic surface may also be made of silicone-based pressure-sensitive adhesive.

[0100] In this embodiment, the number of third liquid outlet holes 410 can be one or more. The third liquid outlet holes 410 can be distributed at various locations on the liquid delivery pipe 400, or on the side of the liquid delivery pipe 400 that contacts the elastomer 200. The third liquid outlet holes 410 can be directly formed during the molding process, or they can be obtained through subsequent processing.

[0101] In one embodiment, combined with Figure 1 The diameter of the third liquid outlet 410 is larger than that of the second liquid outlet 210 to facilitate the smooth flow of liquid.

[0102] In one embodiment, the inner diameter of the liquid delivery tube 400 is 1mm to 10mm. This avoids the inner diameter being too small to make it difficult to inject liquid, and also avoids the inner diameter being too large, which would result in excessive liquid supply, excessive lubrication, and reduced friction.

[0103] It is understandable that, in order to enhance friction, the liquid output of the first liquid outlet 110 is controlled to be 0.0005 mL. This can be achieved by controlling at least one of the following: the diameter and number of the first liquid outlet 110, the diameter and number of the second liquid outlet 210, the diameter and number of the third liquid outlet 410, and the inner diameter of the liquid delivery pipe 400.

[0104] In one embodiment, the number of third liquid outlet holes 410 is greater than three to increase the maximum liquid output and ensure liquid supply to the elastomer 200.

[0105] In one embodiment, combined with Figure 6 and Figure 7 The rigid support 300 is primarily made of at least one of the following materials: plastic, steel, copper, aluminum alloy, and nickel-titanium alloy. These materials possess good rigidity and strength, enabling them to support the bionic finger 10, which functions similarly to a skeleton. The rigid support 300 can be composed of one or more of these materials, along with other auxiliary materials. The combined mass of the plastic, steel, copper, aluminum alloy, and nickel-titanium alloy accounts for more than 50% of the mass of the rigid support 300.

[0106] Specifically, at least one of plastics, steel, copper, aluminum alloys, and nickel-titanium alloys is used to produce the rigid support component 300 through additive manufacturing, injection molding, or casting. Additive manufacturing allows for the creation of complex designs, particularly shapes that are difficult to produce using traditional manufacturing methods, and can be easily modified and customized to meet specific design requirements. Furthermore, additive manufacturing enables the creation of multiple iterations of a product within hours, allowing for rapid prototyping at a lower cost.

[0107] Figure 8 and Figure 9 All images are actual photos of rigid support components 300 manufactured using additive manufacturing.

[0108] In one embodiment, combined with Figure 1 , Figures 6 to 9 The rigid support 300 has a first support surface 311 and a second support surface 312 on one side. The first support surface 311 and the second support surface 312 are connected approximately perpendicularly. The first support surface 311 faces the first liquid outlet 110. The side of the liquid delivery tube 400 away from the elastic body 200 is supported on the first support surface 311. The end of the first end 401 of the liquid delivery tube 400 and the end of the elastic body 200 abut against the second support surface 312. In this way, the first support surface 311 provides support for the liquid delivery tube 400, and the second support surface 312 provides support for the liquid delivery tube 400 and the elastic body 200, thereby ensuring that the positions of the various components of the bionic finger 10 are relatively stable and will not shift.

[0109] Specifically, the included angle between the first support surface 311 and the second support surface 312 is 80° to 100°.

[0110] Specifically, the first support surface 311 is a plane, which can provide stable support force. Similarly, the second support surface 312 is a plane.

[0111] Specifically, in combination Figure 6 and Figure 7 A support groove 310 is provided on one side of the rigid support member 300. The bottom of the support groove 310 forms a first support surface 311, and the wall of one end of the support groove 310 forms a second support surface 312. The liquid delivery pipe 400 and the elastic body 200 are installed in the support groove 310 to achieve their stable position.

[0112] Optionally, the support groove 310 also has two opposing third support surfaces 313, which are substantially perpendicular to the second support surface 312, and the opposite sides of the elastomer 200 abut against the two third support surfaces 313.

[0113] Optionally, the rigid support member 300 has a rigid support plane 320 on one side surface where the support groove 310 is provided. The elastic body 200 is located in the support groove 310, that is, the rigid support plane 320 faces the object. The rigid support plane 320 can provide rigid plane support, so that the skin 100 contacts the basic plane of the object, improving the gripping and touching effect.

[0114] Optionally, a rigid support arc surface 330 is provided on the side of the rigid support member 300 away from the support groove 310. The rigid support arc surface 330 makes the back of the bionic finger 10 smooth, avoiding interference and scratches with other objects. Further, the rigid support arc surface 330 includes a cylindrical arc surface 331 and a spherical arc surface 332 connected sequentially along the length of the liquid delivery tube 400. The cylindrical arc surface 331 is disposed opposite to the support groove 310, increasing the thickness of the rigid support member 300 corresponding to the support groove 310 and improving the supporting force on the elastic body 200. The spherical arc surface 332 is located on the side of the cylindrical arc surface 331 away from the second end 402 of the liquid delivery tube 400. The spherical arc surface 332 makes the thickness of the rigid support member 300 gradually decrease, making the end of the rigid support member 300 smooth.

[0115] Optionally, the edge of the rigid support arc surface 330 can be directly connected to the edge of the rigid support plane 320, or it can be connected to the rigid support plane 320 through other sides.

[0116] In one embodiment, combined with Figure 1The bionic finger 10 also includes a rigid sheet 500, one end of which is attached to the outer surface of the epidermis 100, and the other end of which extends to the outside of the epidermis 100 and is spaced apart from the epidermis 100. In other words, the other end of the rigid sheet 500 protrudes from the epidermis 100, enabling the bionic finger 10 to perform complex actions such as scraping, picking, and scratching.

[0117] Specifically, in combination Figure 1 The rigid sheet 500 and the first liquid outlet 110 are located on opposite sides of the epidermis 100. The distance between the rigid sheet 500 and the first liquid outlet 110 is maximized so that the bionic finger 10 can perform actions such as grasping or touching objects by dispensing liquid and scratching by using the rigid sheet 500, which are relatively independent and do not interfere with each other.

[0118] It is understood that in other embodiments, the rigid sheet 500 and the first liquid outlet 110 may be located on the same side of the skin 100, or the rigid sheet 500 and the first liquid outlet 110 may be located on adjacent sides of the skin 100, without being limited to a single embodiment.

[0119] Specifically, in combination Figure 1 The rigid sheet 500 is located at the end outside the skin 100, and the second end 402 of the liquid delivery tube 400 is located at opposite ends of the skin 100. The rigid sheet 500 and the second end 402 of the liquid delivery tube 400 are located at opposite ends of the skin 100 in the length direction X. The distance between the rigid sheet 500 and the second end 402 of the liquid delivery tube 400 is maximized so that they are relatively independent and do not interfere with each other.

[0120] It is understood that in other embodiments, the rigid sheet 500 may be located at the same end of the skin 100 as the second end 402 of the liquid delivery tube 400, or the rigid sheet 500 may be located in the middle of the skin 100, without being limited to this.

[0121] Specifically, in combination Figure 1 The outer surface of the skin 100 is provided with a mounting groove 130, and one end of the rigid plate 500 is installed in the mounting groove 130. The mounting groove 130 is provided to facilitate the positioning and stable installation of the rigid plate 500.

[0122] It is understandable that the skin 100 may not have the mounting slot 130, and the rigid plate 500 may be directly mounted on the outer surface of the skin 100, or the outer surface of the skin 100 may have a mounting bracket for mounting the rigid plate 500.

[0123] Specifically, the side of the rigid sheet 500 closest to the skin 100 can fit against the surface of the rigid support 300, so that even if the rigid sheet 500 is separated from the rigid support 300 by the skin 100, it can still be supported by the rigid support 300, and the support area is large.

[0124] Understandably, the rigid plate 500 is equivalent to the nail plate of the bionic finger 10.

[0125] In some embodiments, combined with Figure 1 The elastomer 200 can be installed in the skin 100 by bonding, welding, sleeve connection, or abutment. The rigid support 300 can be installed in the skin 100 by bonding, welding, sleeve connection, or abutment. The rigid support 300 and the elastomer 200 can be fixed together by bonding, welding, snap-fit ​​connection, fastener connection, or abutment. The liquid delivery tube 400 can be installed in the skin 100 by bonding, welding, sleeve connection, or abutment. The liquid delivery tube 400 and the rigid support 300 can be fixed together by bonding, welding, snap-fit ​​connection, sleeve connection, insertion connection, fastener connection, or abutment. The liquid delivery tube 400 and the elastomer 200 can be fixed together by bonding, welding, snap-fit ​​connection, sleeve connection, fastener connection, or abutment. The rigid sheet 500 and the skin 100 can be fixed together by bonding, welding, or fastener connection.

[0126] In some embodiments, the main material of the skin 100 is silicone, the main material of the elastomer 200 is polyurethane foam, and the material of the rigid support 300 is ABS plastic, all integrally molded using additive manufacturing. To verify the similarity between the bionic finger 10 and a human finger, the experimental equipment includes: an injection pump connected to the second end 402 of the liquid delivery tube 400, the injection pump supplying purified water; and a tribometer. The injection pump is set to an injection rate of 0.5 mL / min. The tribometer includes a horizontally movable platform and a sensor mounted below the platform. The sensor records the frictional force at 1000 Hz. The ambient temperature is 22.7°C, the air humidity is 60%, the applied pressure is 0.5 N, each test lasts 60 seconds, and the average frictional force is the average of the frictional forces from 10 repeated tests.

[0127] Figure 10 The average friction force of a dry human finger. Figure 11 The average friction force of the dry, bionic finger 10. (Through...) Figure 10 and Figure 11 The comparison shows that, under the same conditions, the friction of the dried bionic finger 10 and the dried human finger are similar, proving that the friction performance of the bionic finger 10 provided in this embodiment is close to that of the human finger.

[0128] Figure 12 The average friction force of a semi-dry human finger. Figure 13 This represents the average friction force of a moist human finger. Figure 10 , Figure 12 and Figure 13The comparison shows that the friction pattern of human fingers differs depending on the amount of moisture on their surface. Semi-dry fingers have the highest friction, followed by dry fingers, while moist fingers have the lowest friction. Semi-dry fingers refer to fingers that are partially moist but not saturated with moisture.

[0129] Figure 14 The average friction force of a dry human finger on a glass surface. Figure 15 The average frictional force of the bionic finger 10 on the glass material under different water volumes supplied by the syringe pump. See also Figure 16 The average friction of the bionic finger 10 varies with the amount of water injected. When 0 to 2.5 mL of pure water is injected, the average friction increases. When the injection volume is 3 to 3.5 mL, the average friction decreases sharply. When the injection volume exceeds 3.5 mL, the average friction remains consistently low. Therefore, the bionic finger 10 also exhibits higher friction in a semi-dry state, similar to the performance of a human finger; that is, the bionic finger 10 can mimic the friction of a human finger on glass.

[0130] Figure 17 The average friction of a dry human finger on leather. Figure 18 The value represents the average friction force of the dried bionic finger 10 on leather. This indicates that the frictional properties of the human finger and the bionic finger 10 on leather are essentially the same.

[0131] Figure 19 The average friction force of the bionic finger 10 on leather material under different water volumes supplied by the injection pump. Figure 20 The average coefficient of friction of the bionic finger 10 on leather material under different water volumes supplied by the syringe pump. The coefficient of friction is equal to the frictional force divided by 0.5 N. Figure 20 The study showed how the coefficient of friction of the bionic finger 10 changes with the amount of water injected. The average friction increases when 0 to 5 mL of pure water is injected. The coefficient of friction decreases when the water volume exceeds 5 mL. When the bionic finger 10 is fully filled with water, the decrease in the coefficient of friction is less than 0.01 N. Therefore, the effect of sweating on leather is less significant compared to sweating on glass, possibly because leather may absorb moisture from the skin surface of the finger.

[0132] This embodiment demonstrates that the bionic finger 10 and the human finger have similar frictional properties, and can realistically simulate the human finger. The coefficient of friction first increases and then decreases with the wet condition. The coefficient of friction and its change are different for different materials, which can be used to identify interfaces of different materials.

[0133] Example 2

[0134] Combination Figure 21The clamp 20 provided in this application includes a clamping drive 21 and at least two bionic fingers 10 of any one of the embodiments. The clamping drive 21 is connected to the bionic fingers 10 to drive the at least two bionic fingers 10 to move closer or further apart, thereby clamping or releasing the grasped object.

[0135] Optionally, the clamp 20 also includes a syringe pump, the outlet of which is connected to the second end 402 of the delivery tube 400 for supplying liquid to the delivery tube 400. The liquid can be pure water, saline, oil, etc. The syringe pump can be a metering syringe pump.

[0136] Specifically, the number of bionic fingers 10 in the gripper 20 can be two, three, four, five, or more than five, and there is no single limitation here. For example, if the number of bionic fingers 10 is five, the gripper 20 is used to simulate the human hand and realize the operation of the human hand.

[0137] Furthermore, the bionic finger 10 of the clamp 20 can be any of the bionic fingers 10 in Embodiment 1, which will not be described in detail here.

[0138] Example 3:

[0139] Combination Figure 22 This application provides a method for manufacturing the bionic finger 10 in Embodiment 1, comprising the following steps:

[0140] S100: Provides a skin 100 having a first liquid outlet 110.

[0141] S200: An elastomer 200 is mounted on one surface of the skin 100, and the elastomer 200 at least partially covers the first liquid outlet 110.

[0142] S300: The first end 401 of the liquid delivery tube 400 is installed on the side of the elastomer 200 away from the skin 100, at least a portion of the third liquid outlet 410 of the liquid delivery tube 400 faces the elastomer 200, and the second end 402 of the liquid delivery tube 400 is located outside the skin 100.

[0143] S400: Install the rigid support 300 onto the liquid delivery pipe 400.

[0144] S500: Fold the skin 100 so that the skin 100 covers the elastomer 200, the first end 401 of the liquid delivery tube 400 and the rigid support 300.

[0145] Thus, through the above steps S100 to S500, the bionic finger 10 in Embodiment 1 can be obtained. When the skin 100 of the bionic finger 10 contacts the object being grasped, liquid can flow from the second end 402 of the liquid delivery tube 400 located outside the skin 100 to the first end 401 of the liquid delivery tube 400 located inside the skin 100, and then sequentially through the third liquid outlet 410, the second liquid outlet 210 and the first liquid outlet 110 to reach the area between the skin 100 and the object being grasped, thereby changing the lubrication state and friction coefficient between the bionic finger 10 and the object being grasped, and thus adjusting the friction between the bionic finger 10 and the object being grasped.

[0146] In one embodiment, combined with Figure 23 Step S100 specifically includes:

[0147] S110: A molding die 30 is provided, the molding die 30 having a molding groove 31 (see...) Figure 24 ).

[0148] S120: The liquid first material is poured into the molding groove 31. The first material includes at least one of silicone, polyurethane, acrylate, natural rubber, silicone, fluorinated silicone, styrene thermoplastic elastomer and latex.

[0149] S130: After the first material cures, a skin 100 is formed (see...). Figure 3 ), and remove it from the molding die 30.

[0150] The molding die 30 can quickly produce the skin 100 with the required shape, which is highly efficient and saves time in product iteration.

[0151] Specifically, step S110 includes:

[0152] S111: Water and alginate are placed in a molding container to form a mixture, and the mixture is left to stand for no more than a first preset time. Optionally, the first preset time is 45s to 60s.

[0153] S112: Press your finger on the mixture and hold for a second preset time. Optionally, the first preset time is 3 to 5 minutes.

[0154] S113: Separate the finger from the mixture, press the finger on the mixture to form a molding groove 31, and the mixture forms a molding mold 30.

[0155] Thus, the mixture of water and alginate can be quickly solidified to form a molding mold 30, which can quickly and easily manufacture the required molding mold 30. Furthermore, by pressing the mixture with human fingers, a molding groove 31 identical to that of human fingers can be obtained, which facilitates the manufacture of a skin 100 with the required shape.

[0156] Optionally, before step S111, the method further includes:

[0157] S114: Measure the amount of water and alginate. This allows for a precisely proportioned mixture, resulting in an easily molded die 30.

[0158] In one embodiment, after step S120, the method further includes:

[0159] S140: Combination Figure 25 and Figure 26 The first microneedle 41 is inserted into the first material. Before the first material is cured, the insertion of the first microneedle 41 into the first material is beneficial to deterministically generate the first liquid outlet hole 110, and the diameter and shape of the first liquid outlet hole 110 are the same as those of the first microneedle 41, that is, the formation of the first liquid outlet hole 110 is controllable.

[0160] Of course, in other embodiments, the pores formed during the molding process of the first material are used as the first liquid outlet 110. In this case, the first microneedle 41 is not required to form the first liquid outlet 110.

[0161] Optionally, the diameter of the first microneedle 41 is 40 μm to 1000 μm.

[0162] Optionally, there may be multiple first microneedles 41, which are arranged along a preset pattern to form multiple first liquid outlet holes 110 arranged in the preset pattern. The preset pattern may be a rectangular array, a circular array, or a zigzag arrangement. For example, multiple first microneedles 41 may be arranged in the shape of a fingerprint to form multiple nested circles.

[0163] Specifically, in combination Figure 25 In this embodiment, a punching component 40 is used to form the first liquid outlet 110. The punching component 40 includes a handle 43 and a first microneedle 41 mounted on the handle 43. The operator can easily insert the first microneedle 41 into the first material by holding the handle 43.

[0164] Optionally, the punching component 40 also includes a roller 42 rotatably mounted on the handle 43, with the first microneedles 41 mounted on the roller 42. Thus, the operator can quickly create multiple first liquid outlet holes 110 by rolling the roller 42. Furthermore, there are multiple first microneedles 41, spaced apart on the roller 42.

[0165] In one embodiment, prior to step S120, the method further includes:

[0166] S150: Combined Figure 25 and Figure 26The first microneedle 41 is inserted into the molding mold 30. In this way, multiple micropores are formed at the bottom of the molding groove 31, and the outer surface of the skin 100 generated can have corresponding micropores, and the first liquid outlet hole 110 is generated inside the first material during the solidification process and communicates with the micropores.

[0167] In one embodiment, prior to step S120, the method further includes:

[0168] S160: Measure the amount of the first material used. This allows for precise control of the weight and thickness of the skin 100.

[0169] In one embodiment, prior to step S120, the method further includes:

[0170] S170: Mix the first material with colored pigments. The colored pigments are used as auxiliary materials to make the resulting epidermis 100 appear in different skin tones.

[0171] In one embodiment, prior to step S120, the method further includes:

[0172] S180: Conductive particles are sprinkled into the bottom of the forming groove 31. In this way, the resulting skin 100 is embedded with conductive particles, and the skin 100 has the conductivity of human skin, which can be used for identification in charged scenes, etc.

[0173] Optionally, the conductive particles are particles made of conductive materials such as graphene particles, silver nanowires, CNT particles, copper powder particles, silver powder particles, or iron powder particles.

[0174] In one embodiment, prior to step S120, the method further includes:

[0175] S190: Combination Figure 1 Patterned grooves 120 are created in the molding groove 31. Thus, the outer surface of the resulting skin 100 is provided with patterned grooves 120, and the end of the first liquid outlet 110 communicates with the patterned grooves 120. Liquid enters the patterned grooves 120 after passing through the first liquid outlet 110 and comes into contact with the object being grasped. The patterned grooves 120 can increase the contact area of ​​the liquid and improve the uniformity of friction.

[0176] Optionally, the patterned grooves 120 can be arranged in the shape of a fingerprint, forming multiple nested circles, to more realistically simulate the behavior of a finger grasping or touching an object. Alternatively, the shape of the patterned grooves 120 can be geometric, animal, or bird shapes, etc., without limitation.

[0177] In one embodiment, prior to step S200, the method further includes the following steps:

[0178] S210: A porous structure is made using a second material, the second material including at least one of sponge, thermoplastic rubber and thermoplastic vulcanized rubber.

[0179] S220: The second microneedle is inserted into the porous structure to form the second liquid outlet 210. Thus, the formation of the second liquid outlet 210 is controllable. Optionally, the number of second microneedles can be one or more. The diameter of the second microneedle is 1μm to 1000μm. Further, the second microneedle can also be installed in the aforementioned perforation component 40. It is understood that the second liquid outlet 210 can also be a pore naturally formed during the molding process of the second material, without requiring the second microneedle to puncture it.

[0180] S230: Immerse one side of the porous structure with the second microneedle in the hydrophobic solution. Specifically, the side of the porous structure closer to the epidermis 100 is immersed in the hydrophobic solution, while the side of the porous structure farther from the epidermis 100 is not immersed in the hydrophobic solution. Further, the immersion depth of the porous structure is 10% to 60% of its thickness.

[0181] S240: The porous structure is removed from the hydrophobic solution, the second microneedle is pulled out, the porous structure forms an elastomer 200, the surface of the elastomer 200 in contact with the hydrophobic solution forms a hydrophobic surface, and the pore wall of the second liquid outlet 210 does not contact the hydrophobic solution and forms a hydrophilic surface.

[0182] Thus, by soaking one side of the elastomer 200 with a hydrophobic aqueous solution, the texture is maintained and the water absorption rate of the elastomer 200 is reduced. The second microneedle is inserted into the second liquid outlet hole 210, so that the elastomer 200 forms a hydrophobic surface and a hydrophilic surface, and the pore wall of the second liquid outlet hole 210 is the hydrophilic surface. Optionally, the hydrophobic aqueous solution is polydimethylsiloxane.

[0183] Optionally, before step S210, the method further includes:

[0184] S211: Measure the amount of the second material used.

[0185] In one embodiment, the primary material of the rigid support 300 includes at least one of plastic, steel, copper, aluminum alloy, and nickel-titanium alloy.

[0186] In one embodiment, prior to step S400, the method further includes:

[0187] S410: Rigid support component 300 is manufactured using additive manufacturing technology. Additive manufacturing can create complex designs, especially shapes that are difficult to produce using traditional manufacturing methods, and can be easily modified and customized to meet specific design requirements. Furthermore, additive manufacturing enables multiple iterations of a product to be created within hours, allowing for rapid prototyping at a lower cost.

[0188] In one embodiment, after step S500, the above method further includes:

[0189] S600: Combined Figure 1 One end of the rigid sheet 500 is attached to the outer surface of the skin 100, and the other end of the rigid sheet 500 extends to the outside of the skin 100 and is spaced apart from the skin 100. In other words, the other end of the rigid sheet 500 protrudes from the skin 100, enabling the bionic finger 10 to perform complex actions such as scraping, picking, and scratching.

[0190] Specifically, the rigid sheet 500 and the first liquid outlet 110 are located on opposite sides of the skin 100.

[0191] Specifically, the end of the rigid sheet 500 located outside the skin 100 and the second end 402 of the liquid delivery tube 400 are located at opposite ends of the skin 100.

[0192] Furthermore, the bionic finger 10 manufactured in Embodiment 3 may have any of the technical features of any bionic finger 10 in Embodiment 1, which will not be described in detail here.

[0193] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bionic finger, characterized in that, The bionic finger includes: The epidermis has a first liquid outlet pore; An elastomer is encapsulated and installed in the skin, and the elastomer has a second liquid outlet hole that communicates with the first liquid outlet hole. A rigid support member, which is encapsulated and installed within the skin; A liquid delivery tube, the first end of which is wrapped and installed in the skin, the first end of which is supported between the rigid support and the elastic body, the side of the first end of which has a third liquid outlet hole, the third liquid outlet hole and the second liquid outlet hole are connected, and the second end of which extends to the outside of the skin; The skin is embedded with conductive particles.

2. The bionic finger according to claim 1, characterized in that: The outer surface of the epidermis is provided with patterned grooves, and the end of the first liquid outlet is connected to the patterned grooves.

3. The bionic finger according to claim 1, characterized in that: The surface of the elastomer includes a hydrophobic surface and a hydrophilic surface, and the wall of the second liquid outlet is located on the hydrophilic surface.

4. The bionic finger according to claim 1, characterized in that: The rigid support member has a first support surface and a second support surface on one side. The first support surface and the second support surface are connected approximately perpendicularly. The first support surface faces the first liquid outlet. The side of the liquid delivery pipe away from the elastic body is supported on the first support surface. The end of the first end of the liquid delivery pipe and the end of the elastic body abut against the second support surface.

5. The bionic finger according to claim 1, characterized in that: The bionic finger also includes a rigid sheet, one end of which is mounted on the outer surface of the epidermis, and the other end of which extends to the outside of the epidermis and is spaced apart from the epidermis.

6. The bionic finger according to claim 5, characterized in that: The rigid sheet and the first liquid outlet are located on opposite sides of the epidermis; And / or, the end of the rigid sheet located outside the skin and the second end of the liquid delivery tube located at opposite ends of the skin; And / or, the outer surface of the skin is provided with a mounting groove, and one end of the rigid sheet is mounted in the mounting groove.

7. The bionic finger according to claim 1, characterized in that: The bionic finger also includes at least one of the following: The number of the first liquid outlet holes is greater than 3; The pore size of the second liquid outlet is 1μm~1000μm; The number of the second liquid outlet is greater than 3; There is a gap between the second liquid outlet and the first liquid outlet; The number of the third liquid outlet holes is greater than 3.

8. The bionic finger according to any one of claims 1 to 7, characterized in that: The main material of the skin includes at least one of silicone, polyurethane, acrylate, styrene-based thermoplastic elastomers and latex; the main material of the elastomer includes at least one of sponge and thermoplastic rubber; the main material of the rigid support includes at least one of plastic, steel, copper, aluminum alloy and nickel-titanium alloy.

9. A clamp, characterized in that, The clamp includes an opening and closing drive and at least two bionic fingers as described in any one of claims 1 to 8, wherein the opening and closing drive is connected to the bionic fingers to drive the at least two bionic fingers to move closer to or further apart from each other.

10. A method for manufacturing the bionic finger according to claim 1, characterized in that, The method includes the following steps: Provide an epidermis with a first effluent outlet; An elastomer is mounted on one surface of the skin, and the elastomer at least covers a portion of the first liquid outlet hole; The first end of the liquid delivery tube is installed on the side of the elastomer away from the epidermis, and the second end of the liquid delivery tube is located outside the epidermis; Install the rigid support member into the liquid delivery pipe; The skin is folded so that it covers the elastomer, the first end of the delivery tube, and the rigid support.

11. The manufacturing method according to claim 10, characterized in that, The step of providing an epidermis with a first effusion pore specifically includes: A molding die is provided, the molding die having a molding groove; A liquid first material is poured into the molding groove. The first material includes at least one of silicone, polyurethane, acrylate, styrene thermoplastic elastomer, and latex. The first material is cured to form the skin and is then removed from the molding die.

12. The manufacturing method according to claim 11, characterized in that, The step of providing a molding die, wherein the molding die has a molding groove, specifically includes: Water and alginate are placed in a molding container to form a mixture, and left for no more than a first preset time. Press your finger on the mixture and hold for a second preset time; The finger is detached from the mixture, and the finger presses into the mixture to form the molding groove, the mixture forming the molding mold.

13. The manufacturing method according to claim 11, characterized in that, After the step of pouring the liquid first material into the molding groove, the method further includes: inserting a first microneedle into the first material; And / or, prior to the step of pouring the liquid first material into the molding groove, the method further includes: inserting a first microneedle into the molding mold.

14. The manufacturing method according to claim 10, characterized in that, Prior to the step of mounting the elastomer on one surface of the epidermis, the method further includes the following steps: The porous structure is made using a second material, which includes at least one of sponge and thermoplastic rubber. Insert the second microneedle into the porous structure to form the second liquid outlet hole; Immerse one side of the porous structure with the second microneedle in a hydrophobic aqueous solution; The porous structure is removed from the hydrophobic solution, and the second microneedle is pulled out. The porous structure forms the elastomer. The surface of the elastomer that contacts the hydrophobic solution forms a hydrophobic surface, and the pore wall of the second liquid outlet does not contact the hydrophobic solution and forms a hydrophilic surface.

15. The manufacturing method according to any one of claims 10 to 14, characterized in that, Prior to the step of installing the rigid support onto the liquid delivery pipe, the method further includes: fabricating the rigid support using additive manufacturing technology.

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