Biomimetic finger, biomimetic hand and robot

Abstract

Disclosed is a biomimetic finger (1000), the biomimetic finger comprising a mounting base (100), a first phalanx (200), a second phalanx (300) and a first elastic member (410). The mounting base comprises a first connecting arm assembly (110) and a second connecting arm assembly (120) located at the side of the first connecting arm assembly close to a holding side (1001). The first phalanx comprises a linear drive member (210) and a housing (220); the end of a main body structure (211) of the linear drive member away from an output shaft (212) of the linear drive member is rotatably connected to the first connecting arm assembly; the end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly. The second phalanx comprises a third connecting arm assembly (310) and a fourth connecting arm assembly (320) located on the side of the third connecting arm assembly close to the holding side; the third connecting arm assembly is rotatably connected to the output shaft; the fourth connecting arm assembly is rotatably connected to the end of the housing away from the second connecting arm assembly. The first elastic member acts between the housing and the second connecting arm assembly. Further disclosed are a biomimetic hand and a robot, which comprise the biomimetic finger. The biomimetic finger can improve the degree of fit with an object to be taken, thus improving the stability of gripping.

Description

A bionic finger, a bionic hand and a robot

[0001] This application claims priority to Chinese Patent Application No. 202411641028.3, filed on November 15, 2024, entitled "A Bionic Finger, Bionic Hand and Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, and more particularly to a bionic finger, a bionic hand, and a robot. Background Technology

[0003] With the continuous development of robotics technology, bionic dexterous hands have become one of the research hotspots in the field of robotics.

[0004] However, existing bionic dexterous hands have a grasping blind spot between the fingers and the object when they grasp it, resulting in a low degree of contact between the fingers and the object, which makes it easy for the object to fall off the bionic dexterous hand. Technical issues

[0005] This application provides a bionic finger, a bionic hand, and a robot, so that the bionic finger can better fit the object to be picked up. Technical solutions

[0006] In a first aspect, this application provides a bionic finger, the bionic finger including an extended state, and the bionic finger being configured with a grasping side, the bionic finger comprising:

[0007] The mounting base includes a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located on the side of the first connecting arm assembly closer to the gripping side;

[0008] The first joint includes a linear drive and a housing. The linear drive is disposed in the housing. The linear drive includes a main structure and an output shaft. The output shaft is telescopically disposed at one end relative to the main structure. The end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly. The end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly.

[0009] The second joint includes a third connecting arm assembly and a fourth connecting arm assembly. The fourth connecting arm assembly is located on the side of the third connecting arm assembly closer to the gripping side. The third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to the end of the housing away from the second connecting arm assembly.

[0010] A first elastic element acts between the housing and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic element stores elastic potential energy for driving the first phalanx to rotate toward the gripping side.

[0011] Based on the above technical solutions, the bionic finger provided in this application allows the first and second phalanges to move sequentially, approaching and contacting the object to be grasped. This enables both the first and second phalanges to contact and hold the object, avoiding blind spots in the grasping process, improving the fit between the bionic finger and the object, enhancing gripping stability, and reducing the risk of the object slipping off the bionic finger during the grasping process.

[0012] In some possible implementations, the first elastic element includes a first spring coil, a first torsion arm, and a second torsion arm, the first torsion arm and the second torsion arm being disposed at opposite ends of the first spring coil, the first torsion arm abutting against the second connecting arm assembly, and the second torsion arm abutting against the housing.

[0013] In some possible implementations, the second connecting arm assembly has a first limiting portion protruding from the side facing the gripping side, and the first limiting portion is located on the rotation path when the housing rotates toward the gripping side.

[0014] In some possible implementations, a second limiting portion is provided on the side of the housing opposite to the gripping side;

[0015] The mounting base also includes a mounting base body, the first connecting arm assembly and the second connecting arm assembly are disposed at the same end of the mounting base body, and the end of the mounting base body facing the second connecting arm assembly is provided with a limiting surface opposite to the second limiting portion;

[0016] The limiting surface is located on the rotation path of the second limiting part when it rotates away from the gripping side.

[0017] In some possible implementations, the bionic finger also includes a gripping state, and the bionic finger also includes a second elastic element that acts between the housing and the fourth connecting arm assembly;

[0018] When the bionic finger is in the gripping state, the second elastic element stores elastic potential energy for driving the second phalanx to rotate away from the gripping side.

[0019] In some possible implementations, the second elastic element includes a second spring coil, a third torsion arm, and a fourth torsion arm, the third torsion arm and the fourth torsion arm being disposed at opposite ends of the second spring coil, the third torsion arm abutting against the fourth connecting arm assembly, and the fourth torsion arm abutting against the housing.

[0020] In some possible implementations, the housing has a third limiting portion protruding from the side facing the gripping side, the third limiting portion being located at the end of the housing near the second knuckle;

[0021] The third limiting part is located on the rotation path of the fourth connecting arm assembly when it rotates toward the gripping side.

[0022] In some possible implementations, the housing has a notch on the side opposite to the gripping side for exposing the output shaft, and the sidewall of the notch is provided with a fourth limiting portion opposite to the third connecting arm assembly;

[0023] The fourth limiting part is located on the rotation path of the third connecting arm assembly when it rotates away from the gripping side.

[0024] Secondly, this application provides a bionic hand, including the bionic fingers described in the above embodiments.

[0025] Thirdly, this application also provides a robot including the bionic fingers described in the above embodiments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 shows a three-dimensional structural schematic diagram of a bionic finger in some embodiments;

[0028] Figure 2 shows another three-dimensional structural schematic diagram of the bionic finger in some embodiments;

[0029] Figure 3 shows a schematic diagram of the mounting base in some embodiments;

[0030] Figure 4 shows a three-dimensional structural schematic diagram of the first phalanx in some embodiments;

[0031] Figure 5 shows another three-dimensional structural schematic diagram of the first phalanx in some embodiments;

[0032] Figure 6 shows a schematic diagram of the cooperation relationship between each elastic element and the first finger joint in some embodiments;

[0033] Figure 7 shows a partially enlarged structural diagram of part A in Figure 6;

[0034] Figure 8 shows a partially enlarged structural diagram of part B in Figure 6;

[0035] Figure 9 shows a schematic diagram of the structure of the second phalanx in some embodiments.

[0036] Key component symbols: 1000 - Bionic finger; 1001 - Grip side; 100 - Mounting base; 110 - First connecting arm assembly; 111 - First connecting arm; 120 - Second connecting arm assembly; 121 - Second connecting arm; 1211 - First mounting flange; 1212 - First mounting groove; 1213 - First connecting shaft; 1214 - Third receiving groove; 130 - Mounting base body; 131 - Limiting surface; 200 - First knuckle; 210 - Linear drive component; 211 - Main structure; 212 - Output shaft; 213 - Fifth connecting arm; 220 - Housing; 221-Sixth connecting arm; 2211-First receiving groove; 2212-Second mounting flange; 2213-Second mounting groove; 222-First limiting part; 223-Second limiting part; 224-Seventh connecting arm; 2241-Second receiving groove; 2242-Fourth mounting flange; 2243-Third mounting groove; 225-Third limiting part; 226-Notch; 227-Fourth limiting part; 300-Second knuckle; 310-Third connecting arm assembly; 311-Third connecting arm; 320-Fourth connecting arm assembly; 321-Fourth connecting arm; 3211-Second connecting shaft; 3212-Third mounting flange; 322-Stop block; 330-Knuckle body; 331-Anti-slip texture; 410-First elastic element; 411-First spring ring; 412-First torsion arm; 413-Second torsion arm; 420 - Second elastic element; 421 - Second spring ring; 422 - Third torsion arm; 4221 - Abutting section; 423 - Fourth torsion arm; 510 - First pivot; 520 - Second pivot. Embodiments of the present invention

[0037] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0038] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0039] 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly 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 application according to the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] As shown in Figure 1, an embodiment provides a bionic finger 1000, which can be applied to the bionic hand of a robot. In some embodiments, the bionic finger 1000 can be a thumb structure.

[0043] In other embodiments, the bionic finger 1000 may also be a part of the index finger, a part of the middle finger, or a part of another bionic finger 1000.

[0044] As shown in Figures 1 to 9, in this embodiment, the bionic finger 1000 may include an extended state and a grasping state. Additionally, the bionic finger 1000 is also equipped with a grasping side 1001. The grasping side 1001 of the bionic finger 1000 refers to the side of the bionic finger 1000 that contacts the object being grasped when grasping it.

[0045] In some embodiments, the bionic finger 1000 includes a mounting base 100, a first phalanx 200, a second phalanx 300, and a first elastic element 410.

[0046] The mounting base 100 includes a first connecting arm assembly 110 and a second connecting arm assembly 120. The second connecting arm assembly 120 may be located on the side of the first connecting arm assembly 110 near the gripping side 1001.

[0047] The first phalanx 200 includes a linear drive 210 and a housing 220, with the linear drive 210 disposed within the housing 220. In an embodiment, the linear drive 210 includes a main structure 211 and an output shaft 212, the output shaft 212 being telescopically oriented relative to one end of the main structure 211. The end of the main structure 211 away from the output shaft 212 is rotatably connected to a first connecting arm assembly 110. The end of the housing 220 away from the output shaft 212 is rotatably connected to a second connecting arm assembly 120. In some embodiments, the axis of rotation between the main structure 211 and the first connecting arm assembly 110 is parallel to the axis of rotation between the housing 220 and the second connecting arm assembly 120.

[0048] The second phalanx 300 includes a third connecting arm assembly 310 and a fourth connecting arm assembly 320. The fourth connecting arm assembly 320 may be located on the side of the third connecting arm assembly 310 closer to the gripping side 1001. In this embodiment, the third connecting arm assembly 310 is rotatably connected to the output shaft 212, and the fourth connecting arm assembly 320 is rotatably connected to the end of the housing 220 away from the second connecting arm assembly 120. The axis of rotation between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the axis of rotation between the third connecting arm assembly 310 and the output shaft 212. Furthermore, the axis of rotation between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the axis of rotation between the housing 220 and the second connecting arm assembly 120.

[0049] The first elastic element 410 can act between the housing 220 and the second connecting arm assembly 120. When the bionic finger 1000 is in an extended state, the first elastic element 410 can store elastic potential energy for driving the first phalanx 200 to move toward the gripping side 1001.

[0050] When the bionic finger 1000 needs to grasp an object, the linear drive 210 is activated, causing the output shaft 212 to gradually extend. During this process, the first elastic element 410 can drive the first phalanx 200 to move towards the grasping side 1001, or even move the first phalanx 200 towards the palm to approach the object, while the second phalanx 300 remains fixed relative to the first phalanx 200. After the first phalanx 200 touches the object, it stops moving, and the output shaft 212 of the linear drive 210 continues to extend. The second phalanx 300 can rotate relative to the first phalanx 200 under the driving action of the linear drive 210, and rotate towards the grasping side 1001, that is, move towards the palm to gradually approach and contact the object. After the second phalanx 300 contacts the object, the linear drive 210 can stop its operation, thus achieving the grasping of the object.

[0051] When an item needs to be placed, the linear drive 210 is activated, causing the output shaft 212 to gradually shorten relative to the main structure 211. During this process, the output shaft 212 can first pull the second knuckle 300 to rotate relative to the first knuckle 200, and rotate it away from the gripping side 1001 to unfold it, that is, the second knuckle 300 rotates away from the palm. After the second knuckle 300 returns to its original position, the output shaft 212 continues to shorten. Under the action of the linear drive 210, the elastic potential energy of the first elastic element 410 can be overcome, causing the first knuckle 200 to rotate relative to the mounting base 100 and rotate it away from the gripping side 1001 to unfold it, that is, the first knuckle 200 rotates away from the palm, until the first knuckle 200 returns to its original position. Subsequently, the linear drive 210 stops operating.

[0052] Therefore, the bionic finger 1000 provided in this application allows the first phalanx 200 and the second phalanx 300 to move sequentially, approaching and contacting the object to be grasped. This ensures that both the first phalanx 200 and the second phalanx 300 can contact and hold the object, avoiding blind spots in the grasping process, improving the fit between the bionic finger 1000 and the object, enhancing gripping stability, and reducing the risk of the object slipping off the bionic finger 1000 during the grasping process.

[0053] As shown in Figure 3, the mounting base 100 may further include a mounting base body 130. In some embodiments, the mounting base body 130 may be integrally formed with the first connecting arm assembly 110 and the second connecting arm assembly 120. The first connecting arm assembly 110 and the second connecting arm assembly 120 may protrude from the same end of the mounting base body 130. The end of the mounting base body 130 away from the first connecting arm assembly 110 can be used to connect the palm of the bionic hand.

[0054] As shown in Figures 3, 4, and 6, in some embodiments, the first connecting arm assembly 110 may include two spaced-apart opposing first connecting arms 111. A first rotating shaft 510 connects the two first connecting arms 111. The first rotating shaft 510 may be fixedly connected to the two first connecting arms 111. A fifth connecting arm 213 protrudes from the end of the main structure 211 of the linear drive member 210 facing the mounting base 100. The fifth connecting arm 213 may be integral with the main structure 211. The fifth connecting arm 213 is rotatably sleeved on the first rotating shaft 510. Thus, a rotational connection between the main structure 211 and the first connecting arm assembly 110 can be achieved.

[0055] In other embodiments, the first rotating shaft 510 may also be rotatably configured relative to the two first connecting arms 111, and the first rotating shaft 510 may be fixedly connected to the fifth connecting arm 213. Alternatively, the first rotating shaft 510 may be rotatably connected to the two first connecting arms 111, and the first rotating shaft 510 may also be rotatably connected to the fifth connecting arm 213.

[0056] As shown in Figures 1, 3, and 6, in some embodiments, the second connecting arm assembly 120 may include two spaced-apart opposing second connecting arms 121. The second connecting arms 121 may be located on the side of the first connecting arm 111 facing the gripping side 1001. Along the axial direction of the first pivot 510, the two second connecting arms 121 may be disposed on opposite sides of the first connecting arm assembly 110.

[0057] Two sixth connecting arms 221 protrude from one end of the housing 220 facing the mounting base 100. Along the axial direction of the first rotating shaft 510, the two sixth connecting arms 221 can be respectively disposed on both sides of the mounting base 100. The two sixth connecting arms 221 can be rotatably connected to the two second connecting arms 121 in a one-to-one correspondence. In the embodiment, the connection method between the two sets of second connecting arms 121 and the sixth connecting arms 221 can be similar; the following description uses one set as an example.

[0058] In some embodiments, a first connecting shaft 1213 protrudes from the side of the second connecting arm 121 toward the sixth connecting arm 221. The first connecting shaft 1213 is rotatably connected to the sixth connecting arm 221 via a bearing.

[0059] As shown in Figures 3, 4, 6, and 7, in some embodiments, the bionic finger 1000 may include a first elastic element 410. The first elastic element 410 may be disposed between one set of second connecting arms 121 and sixth connecting arms 221. Specifically, a first mounting flange 1211 protrudes from one side of the second connecting arm 121 toward the sixth connecting arm 221. The first mounting flange 1211 may be disposed around the periphery of the first connecting shaft 1213, and the first mounting flange 1211 is located at the end of the first connecting shaft 1213 away from the sixth connecting arm 221. In addition, an annular third receiving groove 1214 is formed on the periphery of the first mounting flange 1211.

[0060] The sixth connecting arm 221 has a first receiving groove 2211 and an annular second mounting flange 2212 on the side facing the second connecting arm 121. The first receiving groove 2211 is arranged around the periphery of the second mounting flange 2212. One end of the first connecting shaft 1213 facing the sixth connecting arm 221 can be inserted into the second mounting flange 2212 and is rotatably engaged with the second mounting flange 2212 through a bearing.

[0061] In some embodiments, the first elastic element 410 may be a torsion spring. The first elastic element 410 includes an integral first spring coil 411, a first torsion arm 412 and a second torsion arm 413, which are respectively disposed at both ends of the first spring coil 411.

[0062] In this embodiment, a first spring coil 411 is sleeved on the periphery of the first mounting flange 1211 and the second mounting flange 2212. The second connecting arm 121 also has a first mounting groove 1212 communicating with the third receiving groove 1214 on the side facing the sixth connecting arm 221. The first mounting groove 1212 is generally straight. A first torsion arm 412 can be inserted into the first mounting groove 1212 and abuts against the side wall of the first mounting groove 1212. The sixth connecting arm 221 also has a second mounting groove 2213 communicating with the first receiving groove 2211 on the side facing the second connecting arm 121. The second mounting groove 2213 is generally straight. A second torsion arm 413 can be inserted into the second mounting groove 2213 and abuts against the side wall of the second mounting groove 2213.

[0063] In conjunction with Figure 1, when the bionic finger 1000 is in an extended state, the first elastic element 410 can be in a torsional state under the compression of the housing 220 and the mounting base 100, and store the corresponding elastic potential energy so that when the bionic finger 1000 switches to a gripping state, it drives the first phalanx 200 to rotate toward the gripping side 1001, that is, to rotate toward the palm side.

[0064] In other embodiments, the first elastic element 410 may also be an elastic structure such as a tension spring or an elastic rope. The first elastic element 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection point between the first elastic element 410 and the sixth connecting arm 221 is located on the side of the connection point between the first elastic element 410 and the second connecting arm 121 that is away from the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic element 410 may be in a stretched state.

[0065] In other embodiments, the first elastic element 410 may also be an elastic structure such as a tension spring or an elastic rope. The first elastic element 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection point between the first elastic element 410 and the sixth connecting arm 221 is located on the side of the connection point between the first elastic element 410 and the second connecting arm 121 closer to the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic element 410 may be in a compressed state.

[0066] In other embodiments, the bionic finger 1000 may also include two first elastic elements 410, and one first elastic element 410 may be provided between each of the two sets of sixth connecting arms 221 and the second connecting arm 121.

[0067] As shown in Figures 1, 3, and 6, in some embodiments, a first limiting portion 222 is provided at the end of the sixth connecting arm 221 away from the second connecting arm 121. Along the axial direction of the first connecting shaft 1213, the first limiting portion 222 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. Furthermore, the first limiting portion 222 is located on the side of the sixth connecting arm 221 closer to the gripping side 1001. Additionally, the second connecting arm 121 may protrude relative to the side of the sixth connecting arm 221 closer to the gripping side 1001 and is located on the rotation path of the first limiting portion 222 when rotating towards the gripping side 1001. When the first phalanx 200 rotates a certain distance relative to the mounting base 100 towards the gripping side 1001, the first limiting portion 222 may abut against the second connecting arm 121. Thus, the first limiting portion 222 and the second connecting arm 121 can cooperate to limit the extreme position of the first phalanx 200 when rotating towards the gripping side 1001.

[0068] As shown in Figures 1 and 2, in some embodiments, a second limiting portion 223 is also provided at the end of the sixth connecting arm 221 facing the mounting base 100. Along the axial direction of the first connecting shaft 1213, the second limiting portion 223 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. Furthermore, a stepped structure facing the second limiting portion 223 may be formed between the mounting base body 130 and the second connecting arm 121. Correspondingly, a limiting surface 131 opposite to the second limiting portion 223 may be provided at the end of the mounting base body 130 facing the second connecting arm 121. The limiting surface 131 may be located on the rotation path of the second limiting portion 223 when it rotates away from the gripping side 1001. When the first knuckle 200 rotates a certain distance relative to the mounting base 100 in the direction away from the gripping side 1001, the second limiting portion 223 may abut against the limiting surface 131. Thus, the second limiting part 223 can cooperate with the limiting surface 131 to limit the extreme position of the first phalanx 200 when it rotates away from the gripping side 1001.

[0069] As shown in Figures 1 and 5, in some embodiments, the linear drive 210 can be selected from a linear electric cylinder, a pneumatic cylinder, a hydraulic cylinder, or an electric push rod. The output shaft 212 of the linear drive 210 can face away from the mounting base 100.

[0070] As shown in Figure 9, in some embodiments, the second knuckle 300 further includes a knuckle body 330, which can be used to contact the object to be grasped to provide a gripping function. The third connecting arm assembly 310 and the fourth connecting arm assembly 320 may be disposed at the same end of the knuckle body 330.

[0071] As shown in Figures 5 and 9, in some embodiments, the third connecting arm assembly 310 may include two spaced-apart, opposing third connecting arms 311. The two third connecting arms 311 may be disposed on opposite sides of the output shaft 212. In this embodiment, the two third connecting arms 311 and the output shaft 212 may be rotatably connected via a second rotating shaft 520. Specifically, the second rotating shaft 520 is rotatably inserted into the output shaft 212, and the second rotating shaft 520 may be perpendicular to the output shaft 212. The two third connecting arms 311 may be fixedly connected to the two ends of the second rotating shaft 520 in a one-to-one correspondence.

[0072] In other embodiments, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is fixedly connected to the output shaft 212. Alternatively, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is also rotatably connected to the output shaft 212.

[0073] As shown in Figures 5 and 9, in some embodiments, the fourth connecting arm assembly 320 may include two spaced-apart opposing fourth connecting arms 321. Two spaced-apart opposing seventh connecting arms 224 protrude from the end of the housing 220 facing the second phalanx 300. The two seventh connecting arms 224 are respectively disposed on both sides of the fourth connecting arm assembly 320 along the extension direction of the rotation axis between the fourth connecting arms 321 and the housing 220. The two seventh connecting arms 224 can be rotatably connected to the two fourth connecting arms 321 in a one-to-one correspondence. In embodiments, the connection method of the two sets of seventh connecting arms 224 and fourth connecting arms 321 can be similar.

[0074] In some embodiments, a second connecting shaft 3211 protrudes from the side of the second connecting arm 121 toward the seventh connecting arm 224. The second connecting shaft 3211 is rotatably connected to the seventh connecting arm 224 via a shaft bearing.

[0075] As shown in Figures 5, 6, 8, and 9, in some embodiments, the bionic finger 1000 further includes a second elastic element 420. The second elastic element 420 may be disposed between a set of seventh connecting arms 224 and fourth connecting arms 321. Specifically, a third mounting flange 3212 protrudes from one side of the fourth connecting arm 321 toward the seventh connecting arm 224. The third mounting flange 3212 may be disposed around the periphery of the second connecting shaft 3211, and the third mounting flange 3212 is located at the end of the second connecting shaft 3211 away from the seventh connecting arm 224.

[0076] The seventh connecting arm 224 has a second receiving groove 2241 and an annular fourth mounting flange 2242 on the side facing the fourth connecting arm 321. The second receiving groove 2241 is arranged around the periphery of the fourth mounting flange 2242. The end of the second connecting shaft 3211 facing the seventh connecting arm 224 can be inserted into the fourth mounting flange 2242 and rotates with the fourth mounting flange 2242 through a bearing.

[0077] In some embodiments, the second elastic element 420 may be a torsion spring. The second elastic element 420 may include an integral second spring coil 421, a third torsion arm 422, and a fourth torsion arm 423, with the third torsion arm 422 and the fourth torsion arm 423 respectively disposed at both ends of the second spring coil 421. In an embodiment, the second spring coil 421 is sleeved around the periphery of the third mounting flange 3212 and the fourth mounting flange 2242.

[0078] In some embodiments, the third torsion arm 422 may be L-shaped. The end of the third torsion arm 422 away from the second spring coil 421 may be provided with an abutment section 4221 parallel to the second connecting shaft 3211. A stop block 322 may be disposed between the two fourth connecting arms 321, located on the side of the fourth connecting arm 321 facing the third connecting arm assembly 310. The abutment section 4221 of the third torsion arm 422 may abut against the side of the stop block 322 facing the first finger joint 200.

[0079] The seventh connecting arm 224 is also provided with a third assembly groove 2243 communicating with the second receiving groove 2241 on the side facing the fourth connecting arm 321. The third assembly groove 2243 can be generally straight. The fourth torsion arm 423 can be inserted into the third assembly groove 2243 and abut against the side wall of the third assembly groove 2243.

[0080] When the bionic finger 1000 is in an extended state, the second elastic element 420 can be in a natural state or a torsional state. When the second elastic element 420 is in a torsional state, the second elastic element 420 stores elastic potential energy for driving the second phalanx 300 to rotate away from the gripping side 1001.

[0081] In other embodiments, the second elastic element 420 may also be an elastic structure such as a tension spring or elastic rope. The second elastic element 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection point between the second elastic element 420 and the seventh connecting arm 224 is located on the side away from the gripping side 1001 where the second elastic element 420 and the fourth connecting arm 321 are connected. When the bionic finger 1000 is in an extended state, the second elastic element 420 may be in a naturally extended or stretched state.

[0082] In other embodiments, the second elastic element 420 may also be an elastic structure such as a tension spring or an elastic rope. The second elastic element 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection point between the second elastic element 420 and the seventh connecting arm 224 is located on the side of the connection point between the second elastic element 420 and the fourth connecting arm 321 closer to the gripping side 1001. When the bionic finger 1000 is in an extended state, the second elastic element 420 may be in a naturally extended state or a compressed state.

[0083] In other embodiments, the bionic finger 1000 may also include two second elastic elements 420, and one second elastic element 420 may be provided between each of the two sets of seventh connecting arms 224 and the fourth connecting arm 321.

[0084] As shown in Figures 1, 2, 5, and 9, in some embodiments, the seventh connecting arm 224 has a third limiting portion 225 protruding from the side facing the gripping side 1001. The third limiting portion 225 can be located on the rotation path of the second knuckle 300 when it rotates towards the gripping side 1001. When the second knuckle 300 rotates towards the gripping side 1001 to a certain angle, it can abut against the third limiting portion 225. Thus, the third limiting portion 225 can limit the extreme position of the second knuckle 300 when it rotates towards the palm side.

[0085] In some embodiments, a notch 226 is provided on the side of the housing 220 opposite to the gripping side 1001. The notch 226 may be located at the end of the housing 220 facing the second knuckle 300, allowing the end of the output shaft 212 used for connection to the third connecting arm assembly 310 to be exposed. Correspondingly, a fourth limiting portion 227 opposite to the third connecting arm assembly 310 may be formed at the end of the housing 220 facing the second knuckle 300. The fourth limiting portion 227 may be part of the sidewall of the notch 226. Moreover, the fourth limiting portion 227 is located on the rotation path of the third connecting arm assembly 310 when it rotates in the direction opposite to the gripping side 1001. When the second knuckle 300 rotates relative to the first knuckle 200 in the direction opposite to the gripping side 1001, it may abut against the fourth limiting portion 227 when the second knuckle 300 rotates to a certain angle. Thus, the fourth limiting portion 227 can limit the extreme position of the second knuckle 300 when it rotates away from the palm.

[0086] As shown in Figures 1 and 9, the knuckle body 330 has an anti-slip texture 331 protruding from the side facing the gripping side 1001, which can increase the friction between the second knuckle 300 and the object to be picked up, reducing the possibility of the object to be picked up separating from the bionic finger 1000. In some embodiments, the anti-slip texture 331 can be one or more combinations of anti-slip bumps, anti-slip ridges, etc.

[0087] The embodiment also provides a bionic hand, which may include a palm and bionic fingers 1000 provided in the embodiment. The bionic fingers 1000 can be rotatably connected to the palm via a mounting base 100.

[0088] Additionally, the embodiments also provide a robot, which may include the bionic finger 1000 provided in the embodiments.

[0089] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0090] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A bionic finger, characterized in that, The bionic finger includes an extended state and is equipped with a grasping side. The bionic finger includes: The mounting base includes a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located on the side of the first connecting arm assembly closer to the gripping side; The first joint includes a linear drive and a housing. The linear drive is disposed in the housing. The linear drive includes a main structure and an output shaft. The output shaft is telescopically disposed at one end relative to the main structure. The end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly. The end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly. The second joint includes a third connecting arm assembly and a fourth connecting arm assembly. The fourth connecting arm assembly is located on the side of the third connecting arm assembly closer to the gripping side. The third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to the end of the housing away from the second connecting arm assembly. A first elastic element acts between the housing and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic element stores elastic potential energy for driving the first phalanx to rotate toward the gripping side.

2. The bionic finger according to claim 1, characterized in that, The first elastic element includes a first spring coil, a first torsion arm, and a second torsion arm. The first torsion arm and the second torsion arm are respectively disposed at both ends of the first spring coil. The first torsion arm abuts against the second connecting arm assembly, and the second torsion arm abuts against the housing.

3. The bionic finger according to claim 1 or 2, characterized in that, The second connecting arm assembly has a first limiting part protruding from the side facing the gripping side, and the first limiting part is located on the rotation path when the housing rotates towards the gripping side.

4. The bionic finger according to claim 1 or 2, characterized in that, A second limiting part is provided on the side of the housing opposite to the gripping side; The mounting base also includes a mounting base body, the first connecting arm assembly and the second connecting arm assembly are disposed at the same end of the mounting base body, and the end of the mounting base body facing the second connecting arm assembly is provided with a limiting surface opposite to the second limiting portion; The limiting surface is located on the rotation path of the second limiting part when it rotates away from the gripping side.

5. The bionic finger according to claim 1, characterized in that, The bionic finger also includes a gripping state, and the bionic finger also includes a second elastic element, which acts between the housing and the fourth connecting arm assembly; When the bionic finger is in the gripping state, the second elastic element stores elastic potential energy for driving the second phalanx to rotate away from the gripping side.

6. The bionic finger according to claim 5, characterized in that, The second elastic element includes a second spring coil, a third torsion arm, and a fourth torsion arm. The third torsion arm and the fourth torsion arm are respectively disposed at both ends of the second spring coil. The third torsion arm abuts against the fourth connecting arm assembly, and the fourth torsion arm abuts against the housing.

7. The bionic finger according to claim 1, 5 or 6, characterized in that, The housing has a third limiting part protruding from the side facing the gripping side, and the third limiting part is located at the end of the housing near the second finger joint; The third limiting part is located on the rotation path of the fourth connecting arm assembly when it rotates toward the gripping side.

8. The biomimetic finger of claim 1, 5 or 6, wherein, The housing has a notch on the side away from the gripping side to expose the output shaft, and the side wall of the notch is provided with a fourth limiting part opposite to the third connecting arm assembly; The fourth limiting part is located on the rotation path of the third connecting arm assembly when it rotates away from the gripping side.

9. A bionic hand, characterized in that, Including the bionic finger as described in any one of claims 1 to 8.

10. A robot, characterized in that Including the bionic finger as described in any one of claims 1 to 8.

Images