Bionic finger structure

Abstract

A bionic finger structure, comprising a proximal phalanx (1). A middle phalanx (2) is rotatably connected to one end of the proximal phalanx (1); a distal phalanx (3) is rotatably connected to the other end of the middle phalanx (2); a distal phalanx cable (4) is connected to the lower side of the distal phalanx (3); a middle phalanx pulley (21) is sleeved on a rotating shaft between the middle phalanx (2) and the proximal phalanx (1); the other end of the distal phalanx cable (4) is wound on the upper side of the middle phalanx pulley (21) and then is connected to the proximal phalanx (1); and a middle phalanx cable (5) is connected to the lower side of the middle phalanx (2). A finger cross linkage (6) is rotatably connected to the end of the proximal phalanx (1) distant from the middle phalanx (2); a proximal-phalanx left pulley (61) and a proximal-phalanx right pulley (62) are respectively rotatably connected to two sides of the finger cross linkage (6); a cross linkage cable (7) is fixed on the proximal phalanx (1); one section of the cross linkage cable (7) is connected to the proximal-phalanx left pulley (61) and then is wound out from the proximal-phalanx left pulley (61), and the other section of the cross linkage cable (7) is connected to the proximal-phalanx right pulley (62) and then is wound out from the proximal-phalanx right pulley (62).

Description

A bionic finger structure Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a bionic finger structure. Background Art

[0002] Existing bionic hand products have rich design concepts, and flexible and rigid mechanisms can be seen everywhere in the market, with obvious advantages and disadvantages; the service life of flexible mechanisms is limited, and the wear problem of drive ropes is the primary difficulty in the development and market expansion of such products; and bionic hands with rigid connecting rods as the movement mechanism have problems such as large mass, slow and insensitive movement, poor and inconvenient user experience, etc., which are also limitations encountered in the promotion of such products in the market.

[0003] Patent application number CN202021364416.9 discloses a bionic hand device and its bionic finger mechanism, which includes a first finger segment, a second finger segment, a first connecting rod, a second connecting rod, a third connecting rod, a base and a driving mechanism; the first finger segment is connected to the second finger segment via a rotating connection mechanism, and the rotating connection mechanism is provided with an elastic reset mechanism, which can enable the first and second finger segments to maintain a set posture when there is no external force; the first end of the first connecting rod is connected to the first finger segment, and the second end of the first connecting rod is connected to the base; the second finger segment is provided with a slot, and the first end of the second connecting rod is set through the slot and can move within the slot; the second end of the second connecting rod is connected to the first end of the third connecting rod, and the second end of the third connecting rod is connected to the driving mechanism; the driving mechanism can drive the third connecting rod to move. The bionic hand device and its bionic finger mechanism of this patent can simplify the finger structure and have an impact protection function.

[0004] However, the above-mentioned bionic finger mechanism has only a single degree of freedom of bending and cannot rotate in the horizontal or vertical plane. Its function is single and cannot be applied to humanoid robots.

[0005] Summary of the Invention

[0006] In order to solve the above problems existing in the prior art, the purpose of the present invention is to provide a bionic finger structure.

[0007] The technical solution adopted in the present invention is:

[0008] A bionic finger structure includes a proximal phalanx, one end of the proximal phalanx is rotatably connected to the middle phalanx, the other end of the middle phalanx is rotatably connected to the distal phalanx, the lower side of the distal phalanx is connected to a distal finger steel rope, a middle finger pulley is sleeved on the rotating shaft between the middle phalanx and the proximal phalanx, the other end of the distal finger steel rope is wrapped around the upper side of the middle finger pulley and then fixedly connected to the proximal phalanx, and the lower side of the middle phalanx is connected to the middle finger steel rope; the end of the proximal phalanx away from the middle phalanx is rotatably connected to a finger cross, and the two sides of the finger cross are rotatably connected to a proximal left pulley and a proximal right pulley respectively, a cross steel rope is fixed on the proximal phalanx, one section of the cross steel rope is connected to the proximal left pulley and then wrapped out from the proximal left pulley, and the other section of the cross steel rope is connected to the proximal right pulley and then wrapped out from the proximal right pulley.

[0009] When the middle finger cable is pulled, the middle phalanx rotates relative to the proximal phalanx. The proximal phalanx bends relative to the middle phalanx, causing the proximal phalanx to pull the distal finger cable a certain distance on the middle finger pulley. This in turn causes the distal finger cable to rotate relative to the middle phalanx. Therefore, by pulling the middle finger cable, the present invention can simultaneously bend both the middle and distal phalanxes, simulating the bending motion of a human finger.

[0010] When both ends of the cross-shaped wire are contracted simultaneously, the entire finger and the cross together rotate up and down around the cross-shaped axis. When the cross-shaped wire is stretched in opposite directions but at the same speed, the entire finger rotates left and right relative to the cross. In other states, the entire finger performs compound movements.

[0011] In summary, the middle phalanx and distal phalanx of the present invention can bend synchronously, and the entire finger can rotate up and down and left and right, thereby having multiple degrees of freedom and simulating real human finger movements. It has flexible movements, simple and compact structure, and can be applied to humanoid robots.

[0012] As a preferred embodiment of the present invention, a distal torsion spring is connected between the distal phalanx and the middle phalanx. When the middle finger steel rope is pulled, the middle phalanx bends relative to the proximal phalanx. At this time, the middle finger spring elastically deforms, generating an elastic force that resists the tension of the middle finger steel rope, allowing the middle phalanx to bend smoothly.

[0013] As a preferred embodiment of the present invention, a middle finger torsion spring is connected between the middle phalanx and the proximal phalanx. Bending of the middle phalanx causes the distal finger steel cable to contract, which in turn drives the distal phalanx to rotate relative to the middle phalanx. Simultaneously, the distal finger spring elastically deforms, resisting the tension of the distal finger steel cable and enabling the distal phalanx to rotate smoothly.

[0014] As a preferred embodiment of the present invention, the side surface of the left pulley near the finger is provided with an annular groove, the annular groove being provided with an opening, through which the cross rope is wound into the annular groove and then out of the opening. When the cross rope is wound once within the annular groove and the opening of the annular groove clamps the cross rope, the cross rope will not slip relative to the left pulley near the finger when it is pulled.

[0015] As a preferred embodiment of the present invention, the side of the right pulley near the finger is provided with an annular groove, and the annular groove is provided with an opening. The cross rope is wound into the annular groove through the opening and then wound out of the annular groove. When the cross rope is wound once in the annular groove and the opening of the annular groove clamps the cross rope, the cross rope will not slip relative to the right pulley near the finger when it is pulled.

[0016] As a preferred embodiment of the present invention, the finger cross is provided with a guide groove, and the end of the middle finger steel rope away from the middle phalanx passes through the guide groove.

[0017] As a preferred embodiment of the present invention, a displacement monitoring assembly for detecting finger deformation is installed on the proximal phalanx. The displacement monitoring assembly includes a pair of capacitor PCBs, each with four capacitor electrodes. The four sets of capacitor electrodes on the two capacitor PCBs are arranged in pairs, and the four sets of capacitor electrodes are combined to detect the force deformation state of the finger.

[0018] As a preferred solution of the present invention, a distal guide tube is provided on the distal phalanx, a distal finger pin is sleeved in the distal guide tube, and the end of the distal finger pin is connected to the middle phalanx; the distal finger steel rope is wound around the lower side of the distal guide tube.

[0019] As a preferred solution of the present invention, a middle finger guide tube is provided on the middle finger bone, a middle finger pin is sleeved in the middle guide tube, and a middle finger pulley is sleeved on the middle finger pin.

[0020] As a preferred embodiment of the present invention, a through hole for the distal finger steel rope to pass through is provided in the middle phalanx, and a through hole for the middle finger steel rope to pass through is provided in the proximal phalanx.

[0021] The beneficial effects of the present invention are:

[0022] The middle phalanx and distal phalanx of the present invention can bend synchronously, and the entire finger can rotate up and down and left and right. Therefore, the finger structure of the present invention has multiple degrees of freedom and can simulate real human finger movements. It has flexible movements, simple and compact structure, and can be applied to humanoid robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic structural diagram of the present invention;

[0024] FIG2 is an exploded view of the present invention;

[0025] FIG3 is a partial structural diagram of the present invention.

[0026] In the figure: 1-proximal phalanx; 2-middle phalanx; 3-distal phalanx; 4-distal finger steel rope; 5-middle finger steel rope; 6-finger cross; 7-cross steel rope; 8-capacitor plate; 21-middle finger pulley; 22-middle finger torsion spring; 23-middle finger guide cylinder; 24-middle finger pin; 31-distal finger torsion spring; 32-distal guide cylinder; 33-distal finger pin; 61-proximal finger left pulley; 62-proximal finger right pulley; 63-guide groove. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0029] As shown in Figures 1 to 3, the bionic finger structure of this embodiment includes a proximal phalanx 1, one end of the proximal phalanx 1 is rotatably connected to the middle phalanx 2, the other end of the middle phalanx 2 is rotatably connected to the distal phalanx 3, the lower side of the distal phalanx 3 is connected to the distal finger steel rope 4, a distal finger torsion spring 31 is connected between the distal phalanx 3 and the middle phalanx 2, a middle finger pulley 21 is sleeved on the rotating shaft between the middle phalanx 2 and the proximal phalanx 1, the other end of the distal finger steel rope 4 is wound around the upper side of the middle finger pulley 21 and then connected to the proximal phalanx 1, and the lower side of the middle phalanx 2 is connected to the distal finger steel rope 4. A middle finger steel rope 5 is connected, and a middle finger torsion spring 22 is connected between the middle phalanx 2 and the proximal phalanx 1; the end of the proximal phalanx 1 away from the middle phalanx 2 is rotatably connected to a finger cross 6, and the two sides of the finger cross 6 are rotatably connected to a proximal finger left pulley 61 and a proximal finger right pulley 62, respectively. A cross steel rope 7 is fixed on the proximal phalanx 1, and one section of the cross steel rope 7 is connected to the proximal finger left pulley 61 and then wound out from the proximal finger left pulley 61, and the other section of the cross steel rope 7 is connected to the proximal finger right pulley 62 and then wound out from the proximal finger right pulley 62.

[0030] When the middle finger steel rope 5 of the present invention is pulled, the middle phalanx 2 rotates relative to the proximal phalanx 1. At this time, the middle finger spring is elastically deformed, generating an elastic force to resist the pulling force of the middle finger steel rope 5, so that the middle phalanx 2 bends smoothly. The proximal phalanx 1 bends relative to the middle phalanx 2, so that the proximal phalanx 1 pulls the distal finger steel rope 4 to move a certain distance on the middle finger pulley 21, so that the distal finger steel rope 4 drives the distal phalanx 3 to rotate relative to the middle phalanx 2. At the same time, the distal finger spring is elastically deformed to resist the pulling force of the distal finger steel rope 4, so that the distal phalanx 3 can rotate smoothly. A through hole for the distal finger steel rope 4 to pass through is provided in the middle phalanx 2, which ensures that the distal finger steel rope 4 is smoothly guided. The present invention can drive the middle phalanx 2 and the distal phalanx 3 to bend at the same time by pulling the middle finger steel rope 5 to move, thereby simulating the bending action of the human finger.

[0031] When both ends of the cross steel rope 7 are contracted simultaneously, the entire finger and the finger cross 6 rotate up and down around the axis of the finger cross 6. When the cross steel rope 7 is stretched in the opposite direction and at the same speed, the entire finger rotates left and right relative to the finger cross 6. In other states, the entire finger performs a compound movement.

[0032] A displacement detection assembly 8 for detecting the finger's state is mounted on the proximal phalanx 1. The displacement detection assembly 8 includes a pair of capacitor PCBs, each with four capacitor electrodes. The four sets of capacitor electrodes on the two capacitor PCBs are positioned opposite each other, and the four sets of capacitor electrodes are used to detect the force and deformation state of the finger.

[0033] In summary, the middle phalanx 2 and distal phalanx 3 of the present invention can bend synchronously, and the entire finger can rotate up and down and left and right, thereby having multiple degrees of freedom and simulating real human finger movements. It has flexible movements, simple and compact structure, and can be applied to humanoid robots.

[0034] The side of the near-finger left pulley 61 is provided with an annular groove with an opening, through which the cross rope 7 is wound into the annular groove and then out of the opening. When the cross rope 7 is wound once in the annular groove and the opening of the annular groove clamps the cross rope 7, the cross rope 7 will not slip relative to the near-finger left pulley 61 when it is pulled.

[0035] The side of the right pulley 62 is provided with an annular groove, and the annular groove is provided with an opening. The cross steel rope 7 is wound into the annular groove through the opening and then wound out of the annular groove. When the cross steel rope 7 is wound once in the annular groove and the opening of the annular groove clamps the cross steel rope 7, the cross steel rope 7 will not slide relative to the right pulley 62 when it is pulled.

[0036] It's important to note that the left and right pivots of the finger cross 6 are pivotally connected to the palm structure, with the open ends of the cross cable 7 facing the arm. When both ends of the cross cable 7 are pulled simultaneously and at the same speed, the cross cable 7 rotates the proximal left and right pulleys 61 and 62, pulling the finger cross 6 up and down, causing the proximal phalanx 1, middle phalanx 2, and distal phalanx 3 to rotate together. When the cross cable 7 is pulled in opposite directions but at the same speed, the proximal phalanx 1 rotates left and right relative to the finger cross 6, causing the proximal phalanx 1, middle phalanx 2, and distal phalanx 3 to rotate together.

[0037] Furthermore, the finger cross 6 is provided with a guide groove 63, through which the end of the middle finger cable 5, distal from the middle phalanx 2, passes. A through-hole for the middle finger cable 5 is provided in the proximal phalanx 1. After connecting to the underside of the middle phalanx 2, the middle finger cable 5 passes through the through-hole in the proximal phalanx 1 and then exits through the guide groove 63 of the finger cross 6, ensuring reliable guidance of the middle finger cable 5.

[0038] In order to ensure the rotational flexibility of the distal phalanx 3, a distal guide tube 32 is provided on the distal phalanx 3, and a distal finger pin 33 is sleeved in the distal guide tube 32. The end of the distal finger pin 33 is connected to the middle phalanx 2; the distal finger steel rope 4 is wound around the lower side of the distal guide tube 32.

[0039] In order to ensure the rotational flexibility of the middle phalanx 2 , a middle guiding cylinder 23 is provided on the middle phalanx 2 . A middle finger pin 24 is sleeved in the middle guiding cylinder 23 , and the middle finger pulley 21 is sleeved on the middle finger pin 24 .

[0040] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention falls within the scope of protection of the present invention.

Claims

1. A bionic finger structure, characterized in that: It includes a proximal phalanx (1). One end of the proximal phalanx (1) is rotatably connected to a middle phalanx (2). The other end of the middle phalanx (2) is rotatably connected to a distal phalanx (3). A distal finger steel cable (4) is connected to the lower side of the distal phalanx (3). A middle finger pulley (21) is sleeved on the rotating shaft between the middle phalanx (2) and the proximal phalanx (1). The other end of the distal finger steel cable (4) is wound around the upper side of the middle finger pulley (21) and then connected to the proximal phalanx (1). A middle finger steel cable (5) is connected to the lower side of the middle phalanx (2). One end of the proximal phalanx (1) away from the middle phalanx (2) is rotatably connected to a finger cross (6). A proximal left pulley (61) and a proximal right pulley (62) are respectively rotatably connected to both sides of the finger cross (6). A cross steel cable (7) is fixed on the proximal phalanx (1). One section of the cross steel cable (7) is connected to the proximal left pulley (61) and then winds out from the proximal left pulley (61). The other section of the cross steel cable (7) is connected to the proximal right pulley (62) and then winds out from the proximal right pulley (62).

2. The bionic finger structure according to claim 1, characterized in that: A distal finger torsion spring (31) is connected between the distal phalanx (3) and the middle phalanx (2).

3. The bionic finger structure according to claim 1, wherein: A middle finger torsion spring (22) is connected between the middle phalanx (2) and the proximal phalanx (1).

4. The bionic finger structure according to claim 1, characterized in that: An annular groove is provided on the side surface of the proximal left pulley (61). The annular groove is provided with an opening. The cross steel cable (7) winds into the annular groove from the opening and then winds out from the opening.

5. The bionic finger structure according to claim 1, wherein: An annular groove is provided on the side surface of the proximal right pulley (62). The annular groove is provided with an opening. The cross steel cable (7) winds into the annular groove from the opening and then winds out from the opening.

6. The bionic finger structure according to claim 1, wherein: The finger cross (6) is provided with a guiding groove (63). One end of the middle finger steel cable (5) away from the middle phalanx (2) passes through the guiding groove (63).

7. The bionic finger structure according to claim 1, characterized in that: A displacement monitoring component (8) for detecting the force and deformation state of the finger is installed on the proximal phalanx (1).

8. The bionic finger structure according to claim 1, characterized in that: A distal finger guide tube (32) is provided on the distal phalanx (3). A distal finger pin shaft (33) is sleeved in the distal finger guide tube (32). The end of the distal finger pin shaft (33) is connected to the middle phalanx (2). The distal finger steel cable (4) winds around the lower side of the distal finger guide tube (32).

9. The bionic finger structure according to claim 1, wherein: A middle finger guide tube (23) is provided on the middle phalanx (2). A middle finger pin shaft (24) is sleeved in the middle finger guide tube (23). The middle finger pulley (21) is sleeved on the middle finger pin shaft (24).

10. A bionic finger structure according to any one of claims 1 to 9, characterized in that: A through hole for the distal finger steel cable (4) to pass through is provided in the middle phalanx (2). A through hole for the middle finger steel cable (5) to pass through is provided in the proximal phalanx (1).

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