Multifunctional bionic finger and dexterous bionic hand

Abstract

A multifunctional bionic finger and a dexterous bionic hand; the multifunctional bionic finger comprises a knuckle structure (11) and two linear motors (13), the knuckle structure (11) being configured to be hinged to a palm support (20) by means of a spherical pin joint (12); each linear motor (13) is configured such that a first end thereof is hinged to the palm support (20) by means of a first spherical joint (14), and a second end thereof is hinged to the knuckle structure (11) by means of a second spherical joint (15).

Description

Multifunctional bionic fingers and dexterous bionic hands

[0001] This application claims priority to Chinese Patent Application No. 202410560270.1, filed with the Chinese Patent Office on May 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics technology, such as to multifunctional bionic fingers and dexterous bionic hands. Background Technology

[0003] The robot's bionic finger has multiple joints, with adjacent joints rotating and connected. A power component connects adjacent joints via a pull rope. When the power component pulls the rope, the adjacent joints rotate relative to each other, allowing the bionic finger to bend and grasp objects.

[0004] The bionic fingers in related technologies can only bend towards the palm and cannot perform movements in other directions, resulting in limited functionality and weak grip strength.

[0005] Summary of the Invention

[0006] This application provides a multifunctional bionic finger and a dexterous bionic hand, which utilizes two linear motors to drive the finger joint structure to achieve flexion-extension or swinging movements.

[0007] In a first aspect, this application provides a multifunctional bionic finger, comprising:

[0008] A knuckle structure, wherein the knuckle structure is configured to be hinged to a palm support via a ball joint;

[0009] Two linear motors, each of which is configured such that its first end is hinged to the palm support via a first spherical joint, and its second end is hinged to the knuckle structure via a second spherical joint;

[0010] Driven by the two linear motors, the knuckle structure can perform flexion and extension movements and swinging movements. When the two linear motors extend and retract synchronously, the knuckle structure performs flexion and extension movements. When the two linear motors extend and retract asynchronously, the knuckle structure performs swinging movements.

[0011] As an optional technical solution, the rotation centers of the two first spherical pairs are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair;

[0012] The rotation centers of the two second spherical pairs are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair.

[0013] As an optional technical solution, each first spherical pair includes a first ball sleeve and a first ball head, the first ball head being universally hinged to the first ball sleeve, the first ball sleeve being configured to be disposed in one of the palm support and the linear motor, and the first ball head being configured to be disposed in the other of the palm support and the linear motor.

[0014] As an optional technical solution, the first ball head is fixedly mounted on the linear motor, and the first ball sleeve is fixedly mounted on the palm support.

[0015] As an optional technical solution, each second spherical pair includes a second ball sleeve and a second ball head, the second ball head being universally hinged to the second ball sleeve, the second ball sleeve being disposed in one of the knuckle structure and the linear motor, and the second ball head being disposed in the other of the knuckle structure and the linear motor.

[0016] As an optional technical solution, the second ball head is fixedly mounted on the linear motor, and the second ball sleeve is fixedly mounted on the finger joint structure.

[0017] As an optional technical solution, the second ball head is integrated with the linear motor.

[0018] As an optional technical solution, the first spherical joint is connected to the body of the linear motor, and the second spherical joint is connected to the output end of the linear motor.

[0019] As an optional technical solution, the ball pin assembly includes a third ball sleeve and a transmission pin. The third ball sleeve is hinged to the palm support, and the transmission pin passes through the third ball sleeve and is connected to the knuckle structure.

[0020] Secondly, this application also provides a dexterous bionic hand, including a palm support and multiple multifunctional bionic fingers as described above, wherein the multifunctional bionic fingers are mounted on the palm support. Attached Figure Description

[0021] Figure 1 is a partial structural schematic diagram of the dexterous bionic hand provided in the embodiment.

[0022] In the diagram: 11. Knuckle structure; 12. Ball pin pair; 13. Linear motor; 14. First spherical pair; 15. Second spherical pair; 20. Hand support. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of this application, and not necessarily all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" 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 application based on the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0027] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0028] The technical solution of this application will be described below with reference to the accompanying drawings and specific embodiments.

[0029] As shown in Figure 1, this embodiment provides a multifunctional bionic finger, which includes a knuckle structure 11 and two linear motors 13. The knuckle structure 11 is hinged to the palm support 20 via a ball joint 12. One end of each of the two linear motors 13 is hinged to the palm support 20 via a first spherical joint 14, and the other end of each of the two linear motors 13 is hinged to the knuckle structure 11 via a second spherical joint 15. Driven by the two linear motors 13, the knuckle structure 11 can perform flexion and extension movements and swinging movements.

[0030] Optionally, when the two linear motors 13 extend and retract synchronously, the knuckle structure 11 performs flexion and extension movements; when the two linear motors 13 extend and retract asynchronously, the knuckle structure 11 performs oscillation movements.

[0031] The knuckle structure 11 is hinged to the palm support 20 via a ball joint 12. The linear motor 13 is hinged to the palm support 20 via a first spherical joint 14, and is also hinged to the knuckle structure 11 via a second spherical joint 15. When the knuckle structure 11 needs to bend or extend, the two linear motors 13 contract or extend synchronously. When the knuckle structure 11 needs to swing left or right, the two linear motors 13 extend or retract asynchronously, i.e., one linear motor 13 contracts while the other extends, thus swinging the knuckle structure 11. In addition to driving the knuckle structure 11 to swing left and right, the two linear motors 13, in the synchronously contracted state, also increase the gripping force of the knuckle structure 11, ensuring that the dexterous bionic hand can stably grasp objects.

[0032] In this embodiment, the body of the linear motor 13 is hinged to the palm support 20 via the first spherical joint 14, and the output end of the linear motor 13 is driven and hinged to the knuckle structure 11 via the second spherical joint 15.

[0033] When the multifunctional bionic finger needs to perform bending or stretching movements, the two linear motors 13 are in a parallel state, with their central axes parallel but not overlapping. The two linear motors 13 extend and retract at the same speed. When the contraction speed is equal, the multifunctional bionic finger performs a bending movement, that is, grasps the object onto the palm support 20. When the extension speed is equal, the multifunctional bionic finger performs a stretching movement, releasing the object.

[0034] When the multifunctional bionic finger needs to perform a swinging motion, the two linear motors 13 are in a parallel state, the central axes of the two linear motors 13 are parallel and do not coincide, and the two linear motors 13 perform asynchronous extension and retraction at the same speed. That is, the retraction speed of one linear motor 13 is a first preset value, and the extension speed of the other linear motor 13 is a first preset value, and the finger joint structure 11 swings.

[0035] When the two linear motors 13 extend and retract at different speeds, the movement trajectory of the finger structure 11 is not just a bending motion or just a swinging motion, but the bending and swinging motions are performed simultaneously, and its movement trajectory depends on the difference in the speeds of the asynchronous extension and retraction.

[0036] In this embodiment, the linear motor 13 has high driving precision, enabling precise control of the movement trajectory of the knuckle structure 11. This allows for precise control of the bending or swinging amplitude of the knuckle mechanism 11. Furthermore, the linear motor 13 has a fast response speed, allowing for rapid switching between bending, stretching, and swinging movements of the knuckle structure 11. The linear motor 13 retains its self-locking function even after a power outage. In some application scenarios, such as workshops, if the dexterous bionic hand with the multifunctional bionic fingers of this embodiment grips an object and the linear motor 13 suddenly loses power due to a power outage, the knuckle structure 11 remains in its original state because of the self-locking function of the linear motor 13. Therefore, the bionic dexterous hand can still grip the object, preventing it from falling to the ground or hitting other workpieces or electrical equipment, thus ensuring safety.

[0037] In this embodiment, the rotation centers of the two first spherical joints 14 are symmetrically arranged on the left and right sides of the rotation center of the ball pin joint 12; the rotation centers of the two second spherical joints 15 are symmetrically arranged on the left and right sides of the rotation center of the ball pin joint 12. This makes it easier to control the swing trajectory of the knuckle structure 11. For example, when the two linear motors 13 perform asynchronous extension and retraction at the same speed, the knuckle structure 11 can only perform swinging motion. When the two linear motors 13 perform synchronous extension and retraction at the same speed, the knuckle structure 11 can only perform bending or stretching motion.

[0038] Each of the two first spherical joints 14 has a first ball sleeve, and both first ball sleeves are fixed to the palm support 20. The center points of the two first ball sleeves are symmetrically arranged about the rotation center of the ball pin joint 12. Each of the two second spherical joints 15 has a second ball head, and both second ball heads are fixed to the knuckle structure 11. The center points of the two second ball heads are symmetrically arranged about the rotation center of the ball pin joint 12.

[0039] Optionally, the first spherical joint 14 includes a first ball sleeve and a first ball head, the first ball head being universally hinged to the first ball sleeve, the first ball sleeve being disposed in one of the palm support 20 and the linear motor 13, and the first ball head being disposed in the other of the palm support 20 and the linear motor 13.

[0040] In this embodiment, the first ball head is fixedly mounted on the linear motor 13, and the first ball sleeve is fixedly mounted on the palm support 20. In other embodiments, the first ball head is fixedly mounted on the palm support 20, and the first ball sleeve is fixedly mounted on the linear motor 13.

[0041] The first ball sleeve has a ring structure, and the inner wall of the first ball sleeve has a spherical surface. The outer wall surface of the first ball head is adapted to the inner wall surface of the first ball sleeve. The first ball head can rotate inside the first ball sleeve but cannot detach from the first ball sleeve.

[0042] Optionally, the second spherical joint 15 includes a second ball sleeve and a second ball head, the second ball head being universally hinged to the second ball sleeve, the second ball sleeve being disposed in one of the finger joint structure 11 and the linear motor 13, and the second ball head being disposed in the other of the finger joint structure 11 and the linear motor 13.

[0043] In this embodiment, the second ball head is fixedly mounted on the knuckle structure 11, and the second ball sleeve is fixedly mounted on the linear motor 13.

[0044] The inner wall of the second ball sleeve is spherical, and the outer wall of the second ball head is adapted to the inner wall of the second ball sleeve. The second ball head can rotate inside the second ball sleeve but cannot detach from the second ball sleeve.

[0045] In this embodiment, the second ball sleeve is integrally formed with the linear motor 13. The output shaft of the linear motor 13 is provided with a ball sleeve, which serves as the second ball sleeve.

[0046] In this embodiment, the first spherical joint 14 is connected to the body of the linear motor 13, and the second spherical joint 15 is connected to the output end of the linear motor 13.

[0047] Optionally, the ball pin assembly 12 includes a third ball sleeve and a drive pin, the third ball sleeve being hinged to the palm support 20, and the drive pin passing through the third ball sleeve and connected to the knuckle structure 11.

[0048] This embodiment also provides a dexterous bionic hand, which includes a palm support 20 and multiple multifunctional bionic fingers as described above, with the multifunctional bionic fingers mounted on the palm support 20.

Claims

1. A multifunctional bionic finger, comprising: A knuckle structure (11) is configured to be hinged to a palm support (20) via a ball joint (12); Two linear motors (13), each of which is configured such that its first end is hinged to the palm support (20) via a first spherical joint (14), and its second end is hinged to the knuckle structure (11) via a second spherical joint (15); Driven by the two linear motors (13), the knuckle structure (11) can perform flexion and extension movements and swinging movements. When the two linear motors (13) extend and retract synchronously, the knuckle structure (11) performs flexion and extension movements. When the two linear motors (13) extend and retract asynchronously, the knuckle structure (11) performs swinging movements.

2. The multifunctional bionic finger according to claim 1, wherein, The rotation centers of the two first spherical pairs (14) are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair (12); The rotation centers of the two second spherical pairs (15) are symmetrically arranged on the left and right sides of the rotation center of the ball pin pair (12).

3. The multifunctional bionic finger according to claim 1 or 2, wherein, Each first spherical pair (14) includes a first ball sleeve and a first ball head, the first ball head being universally hinged to the first ball sleeve, the first ball sleeve being configured to be disposed in one of the palm support (20) and the linear motor (13), and the first ball head being configured to be disposed in the other of the palm support (20) and the linear motor (13).

4. The multifunctional bionic finger according to claim 3, wherein, The first ball head is fixedly mounted on the linear motor (13), and the first ball sleeve is fixedly mounted on the palm support (20).

5. The multifunctional bionic finger according to claim 1 or 2, wherein, Each second spherical joint (15) includes a second ball sleeve and a second ball head, the second ball head being universally hinged to the second ball sleeve, the second ball sleeve being disposed in one of the knuckle structure (11) and the linear motor (13), and the second ball head being disposed in the other of the knuckle structure (11) and the linear motor (13).

6. The multifunctional bionic finger according to claim 5, wherein, The second ball head is fixedly mounted on the linear motor (13), and the second ball sleeve is fixedly mounted on the knuckle structure (11).

7. The multifunctional bionic finger according to claim 6, wherein, The second ball head is integrally formed with the linear motor (13).

8. The multifunctional bionic finger according to claim 1, wherein, The ball pin assembly (12) includes a third ball sleeve and a transmission pin. The third ball sleeve is hinged to the palm support (20), and the transmission pin passes through the third ball sleeve and is connected to the knuckle structure (11).

9. A dexterous bionic hand, comprising a palm support (20) and a plurality of multifunctional bionic fingers as described in any one of claims 1-8, the plurality of multifunctional bionic fingers being mounted on the palm support (20).

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