Bionic dexterous finger and bionic robot

Abstract

A bionic dexterous finger, comprising: a finger body (100), a driving assembly (200) and a transmission assembly. The driving assembly (200) is arranged at a metacarpophalangeal joint of the palm, and the driving assembly (200) comprises a driving screw rod (201); the transmission assembly comprises a moving mechanism (300), a connecting mechanism (400) and a flexible mechanism, the moving mechanism (300) is transmittingly connected to the driving screw rod (201), the flexible mechanism is connected to the moving mechanism (300), and the connecting mechanism (400) is rotatably connected to the flexible mechanism and is also rotatably connected to the root of the finger body; the driving assembly (200) drives the flexible mechanism to elastically deform and drives the finger body (100) to bend towards the palm or away from the palm, so that the driving assembly (200) has flexible output characteristics; and when subjected to an external force, the finger body (100) can swing laterally, and enable the flexible mechanism to elastically deform, and when the flexible mechanism elastically resets, the flexible mechanism drives the finger body (100) to reset. The present invention is used for solving the technical problems that a finger cannot swing laterally and the finger is prone to damage due to the impact of an external force.

Description

Bionic dexterous fingers and bionic robots

[0001] This application claims priority to Chinese Patent Application No. 202510073199.9, filed on January 17, 2025, entitled “Bionic Dexterous Fingers and Bionic Robots”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics technology, specifically to a biomimetic dexterous finger and a biomimetic robot. Background Technology

[0003] In related technologies, the base of the robotic bionic dexterous finger is fixedly connected to the metacarpophalangeal joint of the hand. The bionic dexterous finger only has the freedom to bend towards or away from the palm, but lacks the ability to laterally swing. Furthermore, the base of the robotic bionic dexterous finger is directly connected to the drive motor at the metacarpophalangeal joint via a lead screw, resulting in poor impact resistance and flexibility. During use, the finger is easily damaged by external impacts, and this can even damage the drive motor. Summary of the Invention

[0004] In view of the above problems, this application provides a bionic dexterous finger and a bionic robot to solve the problems in the related art that the five-finger dexterous hand cannot swing to the left or right and that the five-finger dexterous hand is easily damaged when subjected to external impact.

[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0006] This application provides a bionic dexterous finger, comprising: a finger body, a driving component, and a transmission component; the driving component is configured as a metacarpophalangeal joint in the palm, and a driving screw extends outward from the driving component; the transmission component includes a moving mechanism, a connecting mechanism, and a flexible mechanism, the moving mechanism being drivenly connected to the driving screw, the flexible mechanism being connected to the moving mechanism, one end of the connecting mechanism being rotatably connected to the flexible mechanism, and the other end of the connecting mechanism being rotatably connected to the root of the finger body; the driving component drives the flexible mechanism to elastically deform and drives the connecting mechanism to cause the finger body to bend towards or away from the palm; when the driving component stops working and the finger body is subjected to an external force along a first horizontal direction, the connecting mechanism is driven to swing along the first horizontal direction, the connecting mechanism drives the flexible mechanism to elastically deform, the flexible mechanism elastically recovers and causes the finger body to return to its original position; or, when the driving component is working and the finger body is subjected to an external force in any direction, the connecting mechanism is driven to swing, the connecting mechanism drives the flexible mechanism to elastically deform, the flexible mechanism elastically recovers and causes the finger body to return to its original position.

[0007] In one embodiment of this application, along the first horizontal direction, the moving mechanism has opposing first and second walls. A first connecting protrusion is provided on the first wall, and a second connecting protrusion is provided on the second wall. The flexible mechanism includes a first flexible mechanism and a second flexible mechanism. The first flexible mechanism is connected to the first connecting protrusion, and the second flexible mechanism is connected to the second connecting protrusion. The connecting mechanism includes a first link and a second link. One end of the first link is rotatably connected to the first flexible mechanism, and one end of the second link is rotatably connected to the second flexible mechanism. The other ends of both the first and second links are rotatably connected to the base of the finger body. The finger body moves towards the first... When the flexible mechanism sways laterally or the finger body sways laterally toward the location of the second flexible mechanism, both the first and second flexible mechanisms can move along the second horizontal direction, and the directions of movement of the first and second flexible mechanisms are opposite, and both the first and second flexible mechanisms undergo elastic deformation; when the finger body bends toward or away from the palm, both the first and second flexible mechanisms can move along the second horizontal direction, and the directions of movement of the first and second flexible mechanisms are the same, and both the first and second flexible mechanisms undergo elastic deformation; wherein, the second horizontal direction is perpendicular to the first horizontal direction.

[0008] In one embodiment of this application, the moving mechanism has a bottom surface along the vertical direction, and a third connecting protrusion is provided on the bottom surface. The flexible mechanism is connected to the third connecting protrusion. The connecting mechanism includes a third link, one end of which is rotatably connected to the flexible mechanism, and the other end of which is rotatably connected to the base of the finger body.

[0009] In one embodiment of this application, the first flexible mechanism includes: a first connecting block, a first lower connecting rod, a first front spring, and a first rear spring; the first connecting block is provided with a first connecting hole, the first connecting hole having a first central axis, the first central axis being parallel to the first horizontal direction, and one end of the first connecting rod being rotatably connected to the first connecting hole; the first connecting block is also provided with a first protrusion and a second protrusion that are opposite to and spaced apart along the second horizontal direction, and the first connecting protrusion is disposed between the first protrusion and the second protrusion; the first protrusion is provided with a second connecting hole, the second protrusion is provided with a third connecting hole, and the first connecting protrusion is provided with a fourth connecting hole, the second connecting hole, the third connecting hole, and the fourth connecting hole all having a second central axis, the second central axis being parallel to the second horizontal direction; the first lower connecting rod is slidably connected to the second connecting hole, the third connecting hole, and the fourth connecting hole; the first front spring and the first rear spring are both sleeved on the first lower connecting rod, and the two ends of the first front spring along its elastic extension direction abut against the first protrusion and the first connecting protrusion respectively, and the two ends of the first rear spring along its elastic extension direction abut against the second protrusion and the first connecting protrusion respectively.

[0010] In one embodiment of this application, the first flexible mechanism further includes: a first upper connecting rod; a fifth connecting hole is provided on the first protrusion, a sixth connecting hole is provided on the second protrusion, and a seventh connecting hole is provided on the first connecting protrusion; the central axes of the fifth connecting hole, the sixth connecting hole, and the seventh connecting hole coincide; the central axis of the fifth connecting hole and the second central axis are vertically spaced apart, and the central axis of the fifth connecting hole is parallel to the second horizontal direction; the first upper connecting rod is slidably connected to the fifth connecting hole, the sixth connecting hole, and the seventh connecting hole.

[0011] In one embodiment of this application, the bionic dexterous finger further includes: a support; both the moving mechanism and the flexible mechanism are disposed in the support; the support includes a first sidewall and a second sidewall along the second horizontal direction, the first sidewall is provided with a first through hole, the second sidewall is provided with a second through hole, the driving screw is disposed in the support through the first through hole, a bearing seat is disposed in the second through hole, and the end of the driving screw is rotatably connected to the bearing seat; a clearance opening is also provided on the second sidewall, one end of the connecting mechanism is disposed in the support, and the other end of the connecting mechanism extends out of the support through the clearance opening and is rotatably connected to the root of the finger body.

[0012] In one embodiment of this application, a third through hole is further provided on the first sidewall, and a fourth through hole is further provided on the second sidewall. The two ends of the first lower connecting rod along the second horizontal direction are respectively fixedly connected to the third through hole and the fourth through hole; a fifth through hole is further provided on the first sidewall, and a sixth through hole is further provided on the second sidewall. The two ends of the first upper connecting rod along the second horizontal direction are respectively fixedly connected to the fifth through hole and the sixth through hole.

[0013] In one embodiment of this application, an arc-shaped support plate is provided on the outer wall surface of the first sidewall away from the second sidewall, and the driving component is disposed on the arc-shaped support plate.

[0014] In one embodiment of this application, the connecting mechanism further includes a first ball joint and a second ball joint. The first ball joint includes a first ball head and a first segment adjacent to each other along the first horizontal direction. The second ball joint includes a second ball head and a second segment adjacent to each other along the first horizontal direction. One end of the first connecting rod has a first annular connector, which is rotatably connected to the first ball head. The first segment is fixedly connected to the first flexible mechanism. One end of the second connecting rod has a second annular connector, which is rotatably connected to the second ball head. The second segment is fixedly connected to the second flexible mechanism. The connecting mechanism further includes a third ball joint, which has a first end and a second end opposite to each other. Both the first end and the second end are fixedly connected to the base of the finger body. The third ball joint is also provided with a third ball head and a fourth ball head spaced apart along the first horizontal direction. The other end of the first connecting rod has a third annular connector, and the other end of the second connecting rod has a fourth annular connector. The third annular connector is rotatably connected to the third ball head, and the fourth annular connector is rotatably connected to the fourth ball head.

[0015] This application also provides a bionic robot, which includes the bionic dexterous fingers described above.

[0016] The bionic robot provided in this application has the following technical effects:

[0017] When the driving component drives the finger body to bend toward or away from the palm, the finger body can sway sideways when an external force is applied to the right or left side of the finger body; at the same time, when the driving component does not drive the finger body to bend toward or away from the palm, the finger body can still sway sideways when an external force is applied to the right or left side of the finger body.

[0018] When the finger body is swayed to the side or subjected to impact force from any direction, the elastic deformation of the flexible mechanism can offset most of the impact force, achieving the effect of resisting impact and shock absorption, and preventing damage to the base of the finger body when subjected to external impact.

[0019] Meanwhile, the drive component's drive of the connecting mechanism is first transmitted to the finger body through the flexible mechanism, giving the drive component good flexible output characteristics; this also provides a certain degree of protection for the drive component.

[0020] In addition to the technical problems solved by this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0022] Figure 1 is a schematic diagram of the structure of the bionic dexterous finger provided in an embodiment of this application;

[0023] Figure 2 is an enlarged view of part A in Figure 1;

[0024] Figure 3 is a diagram showing the state of the bionic dexterous finger swinging to the left according to an embodiment of this application;

[0025] Figure 4 is a diagram showing the state of the bionic dexterous finger swinging to the right according to an embodiment of this application.

[0026] Figure 5 is an enlarged view of part C in Figure 4;

[0027] Figure 6 is an enlarged view of part B in Figure 3;

[0028] Figure 7 is an exploded view of part A in Figure 1;

[0029] Figure 8 is an exploded view of part A in Figure 1.

[0030] Figure 9 is a schematic diagram of the structure of the bionic dexterous finger movement mechanism provided in the embodiment of this application;

[0031] Figure 10 is a schematic diagram of the structure of the bionic dexterous finger support provided in the embodiment of this application;

[0032] Figure 11 is a schematic diagram of the connection mechanism of the bionic dexterous finger provided in an embodiment of this application;

[0033] Figure 12 is a schematic diagram of the connection mechanism and the flexible mechanism of the bionic dexterous finger provided in the embodiment of this application;

[0034] Figure 13 is a diagram showing the state of the bionic dexterous finger bending according to an embodiment of this application.

[0035] Reference numerals: 100-Finger body; 200-Drive assembly; 201-Drive screw; 300-Moving mechanism; 301-First connecting protrusion; 302-Second connecting protrusion; 304-Allowing groove; 3011-Fourth connecting hole; 3012-Seventh connecting hole; 400-Connecting mechanism; 401-First connecting rod; 402-Second connecting rod; 403-Third ball joint; 404-First ball joint; 405-Second ball joint; 4011-First annular connector; 4012-Third annular connector; 4021-Second annular connector; 4022-Fourth annular connector; 4031-Third ball joint; 4032-Fourth ball joint; 4041-First rod segment; 4042-First ball joint; 4051-Second rod segment; 4052-Second ball joint; 500-Bracket; 501-First sidewall; 502-Second sidewall; 503-Arc-shaped support plate; 5011-First through hole; 5021-Second through hole; 5022-Fourth through hole; 5023-Sixth through hole; 5024-Allowance opening; 5025-Bearing seat; 610-First flexible mechanism; 620-Second flexible mechanism; 601-First connecting block; 602-First lower connecting rod; 603-First front spring; 604-First rear spring; 605-First upper connecting rod; 621-Second connecting block; 622-Second lower connecting rod; 623-Second front spring; 624-Second rear spring; 625-Second upper connecting rod; 6011 - First protrusion; 6012 - Second protrusion; 6013 - First connecting hole; 6014 - Second connecting hole; 6015 - Third connecting hole; 6016 - Fifth connecting hole; 6017 - Sixth connecting hole; 700 - Swing assembly. Detailed Implementation

[0036] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] The orientations involved in this embodiment include: the first horizontal direction is the x-axis in the figure, which is the left-right direction of the finger body; the second horizontal direction is the y-axis in the figure, which is the front-back direction of the finger body. The first and second horizontal directions are perpendicular. Forward movement in this embodiment refers to movement of the finger body away from the palm, and backward movement in this embodiment refers to movement of the finger body towards the palm.

[0038] Referring to Figures 1, 5, and 7, this application embodiment provides a bionic dexterous finger, which includes a finger body 100 and a drive component 200. The drive component 200 is disposed at the metacarpophalangeal joint of the palm, and the output shaft of the drive component 200 is connected to the root of the finger body 100, so that the drive component 200 can drive the finger body 100 to bend toward or away from the palm.

[0039] The bionic dexterous finger also includes a swing component 700, which is rotatably connected to the base of the finger body 100. When the finger body 100 bends toward or away from the palm, the swing component 700 has the function of balancing the force.

[0040] The drive assembly 200 can be a drive motor, and the output shaft of the drive assembly 200 can be a drive screw 201.

[0041] This bionic dexterous finger also includes a transmission component.

[0042] The transmission assembly includes: a moving mechanism 300, a connecting mechanism 400, and a flexible mechanism.

[0043] The moving mechanism 300 is connected to the drive screw 201. When the drive assembly 200 controls the drive screw 201 to rotate clockwise or counterclockwise, the moving mechanism 300 can move on the drive screw 201.

[0044] The moving mechanism 300 can be a nut that can engage with the drive screw 201.

[0045] In this application, when the drive assembly 200 controls the drive screw 201 to rotate clockwise, the moving mechanism 300 can move on the drive screw 201, and the moving mechanism 300 will move from the palm to the finger body 100; when the drive assembly 200 controls the drive screw 201 to rotate counterclockwise, the moving mechanism 300 can move on the drive screw 201, and the moving mechanism 300 will move from the finger body 100 to the palm.

[0046] The flexible mechanism is connected to the moving mechanism 300. One end of the connecting mechanism 400 is rotatably connected to the flexible mechanism, and the other end of the connecting mechanism 400 is rotatably connected to the base of the finger body 100.

[0047] When the drive assembly 200 controls the drive screw 201 to rotate clockwise or counterclockwise, the moving mechanism 300 drives the flexible mechanism to move; but at this time, the connecting mechanism 400 remains stationary, and the flexible mechanism is subjected to tension forces in different directions applied simultaneously by the moving mechanism 300 and the connecting mechanism 400, causing the flexible mechanism to undergo elastic deformation; while the flexible mechanism undergoes elastic deformation, the flexible mechanism drives the connecting mechanism 400 to rotate, so that the connecting mechanism 400 can drive the base of the finger body 100 to rotate, and the finger body 100 can bend towards the palm or away from the palm.

[0048] Among them, the elastic deformation of the flexible mechanism can offset part of the output force of the drive component 200; that is, the drive of the drive component 200 to the connecting mechanism 400 is first transmitted to the finger body 100 through the flexible mechanism, so that the drive component 200 has good flexible output characteristics and plays a certain protective role.

[0049] When the drive assembly 200 stops working, it indicates that the drive assembly 200 is not controlling the rotation of the drive screw 201. At this time, when the right or left side of the finger body 100 is subjected to an external force along the first horizontal direction (the left and right direction of the finger body 100 in Figure 1), the finger body 100 will sway sideways along the first horizontal direction. When the finger body 100 sways sideways, it will drive the connecting mechanism 400 to swing left or right. When the connecting mechanism 400 swings left or right, it will apply a pulling force to the flexible mechanism. Since the drive screw 201 stops rotating at this time, the moving mechanism 300 is stationary on the drive screw 201. The flexible mechanism is subjected to forces in different directions applied simultaneously by the moving mechanism 300 and the connecting mechanism 400, causing the flexible mechanism to undergo elastic deformation. When the flexible mechanism recovers its elasticity, it will drive the finger body 100 to reset.

[0050] When the drive assembly 200 does not control the drive screw 201 to rotate, when the finger body 100 is subjected to an external force in any direction, the finger body 100 will drive the connecting mechanism 400 to swing. When the connecting mechanism 400 swings, the flexible mechanism will undergo elastic deformation. The elastic deformation of the flexible mechanism can offset most of the impact force, achieve the effect of resisting impact and shock absorption, and avoid damage to the base of the finger body 100 when subjected to external impact.

[0051] In other words, when the drive component 200 stops working and the finger body 100 is subjected to an external force along the first horizontal direction, the connecting mechanism 400 swings along the first horizontal direction. The connecting mechanism 400 drives the flexible mechanism to undergo elastic deformation, and the flexible mechanism elastically recovers and drives the finger body 100 to reset. Alternatively, when the drive component 200 works and the finger body 100 is subjected to an external force in any direction, the connecting mechanism 400 swings. The connecting mechanism 400 drives the flexible mechanism to undergo elastic deformation, and the flexible mechanism elastically recovers and drives the finger body 100 to reset.

[0052] It should be noted that one end of the connecting mechanism 400 is rotatably connected to the flexible mechanism, and the other end of the connecting mechanism 400 is rotatably connected to the root of the finger body 100. This means that both ends of the connecting mechanism 400 can rotate around the first horizontal axis (the left and right direction of the finger body 100 in Figure 1) to achieve bending of the finger body 100.

[0053] It should also be noted that when the drive assembly 200 controls the drive screw 201 to rotate, and the finger body 100 bends toward or away from the palm, the finger body 100 is subjected to an external force impact in any direction. The finger body 100 can also drive the connecting mechanism 400 to swing, and cause the flexible mechanism to undergo elastic deformation to offset the impact force, thereby achieving the effect of resisting impact and shock absorption; and preventing damage to the base of the finger body 100 when it is subjected to external force impact during use.

[0054] As shown in Figures 2, 3 and 4, in this embodiment of the application, along the first horizontal direction (the left and right direction of the finger body 100 in Figure 1), the moving mechanism 300 has a first wall and a second wall with opposite sides. A first connecting protrusion 301 is provided on the first wall, and a second connecting protrusion 302 is provided on the second wall.

[0055] The flexible mechanism includes a first flexible mechanism 610 and a second flexible mechanism 620. The first flexible mechanism 610 and the second flexible mechanism 620 are respectively disposed on both sides of the moving mechanism 300 along the first horizontal direction. The first flexible mechanism 610 is connected to the first connecting protrusion 301, and the second flexible mechanism 620 is connected to the second connecting protrusion 302.

[0056] The connecting mechanism 400 includes a first link 401 and a second link 402. One end of the first link 401 is rotatably connected to the first flexible mechanism 610, and one end of the second link 402 is rotatably connected to the second flexible mechanism 620. The other ends of the first link 401 and the second link 402 are both rotatably connected to the base of the finger body 100.

[0057] As shown in Figure 3, when the finger body 100 is impacted and sways laterally towards the location of the first flexible mechanism 610, both the first flexible mechanism 610 and the second flexible mechanism 620 can move along the second horizontal direction (the y-direction in Figure 3), and the movement directions of the first flexible mechanism 610 and the second flexible mechanism 620 are opposite. Specifically, the first link 401 drives the first flexible mechanism 610 to move backward along the second horizontal direction (the y-direction in Figure 3), and the second link 402 drives the second flexible mechanism 620 to move forward along the second horizontal direction (the y-direction in Figure 3). Both the first flexible mechanism 610 and the second flexible mechanism 620 undergo elastic deformation.

[0058] As shown in Figure 4, when the finger body 100 is impacted and sways laterally toward the location of the second flexible mechanism 620, both the first flexible mechanism 610 and the second flexible mechanism 620 can move along the second horizontal direction (the y direction in Figure 3), and the movement directions of the first flexible mechanism 610 and the second flexible mechanism 620 are opposite. Specifically, the first link 401 drives the first flexible mechanism 610 to move forward along the second horizontal direction (the y direction in Figure 4), and the second link 402 drives the second flexible mechanism 620 to move backward along the second horizontal direction (the y direction in Figure 4). Both the first flexible mechanism 610 and the second flexible mechanism 620 undergo elastic deformation.

[0059] A first flexible mechanism 610 and a second flexible mechanism 620 are respectively set on the left and right sides of the moving mechanism 300, which solves the problem of uneven force on the left and right sides of the moving mechanism 300 when the finger body 100 swings to the side. While achieving the effect of resisting impact and shock absorption, it ensures that the finger body 100 can smoothly transition during the swinging process.

[0060] Meanwhile, the first flexible mechanism 610 and the second flexible mechanism 620 are respectively set on the left and right sides of the moving mechanism 300, making the overall structure of the transmission component compact and easy to integrate into the motor module.

[0061] As shown in Figure 13, when the drive assembly 200 controls the drive screw 201 to rotate, and causes the finger body 100 to bend toward or away from the palm, the first flexible mechanism 610 and the second flexible mechanism 620 can both move along the second horizontal direction (y direction in Figure 3), and the first flexible mechanism 610 and the second flexible mechanism 620 move in the same direction.

[0062] In this process, the first link 401 drives the first flexible mechanism 610 and the second link 402 drives the second flexible mechanism 620 to move forward along the second horizontal direction (the y direction in Figure 4). Both the first flexible mechanism 610 and the second flexible mechanism 620 undergo elastic deformation, and the finger body 100 bends away from the palm.

[0063] The first link 401 drives the first flexible mechanism 610 and the second link 402 drive the second flexible mechanism 620 to move backward along the second horizontal direction (y direction in Figure 4). The first flexible mechanism 610 and the second flexible mechanism 620 undergo elastic deformation, and the finger body 100 bends closer to the palm.

[0064] In another embodiment of this application, the moving mechanism 300 has a bottom surface along the vertical direction, and a third connecting protrusion is provided on the bottom surface. The flexible mechanism is connected to the third connecting protrusion. The connecting mechanism includes a third link, one end of which is rotatably connected to the flexible mechanism, and the other end of which is rotatably connected to the root of the finger body 100.

[0065] In other words, unlike the above-mentioned scheme where flexible mechanisms 610 are provided on both the left and right sides of the moving mechanism 300, this scheme only provides a flexible mechanism at the bottom of the moving mechanism, which can also achieve the effect of resisting impact and reducing shock.

[0066] As shown in Figures 2, 5, 7, 8 and 9, in this embodiment of the application, the first flexible mechanism 610 may include: a first connecting block 601, a first lower connecting rod 602, a first front spring 603 and a first rear spring 604.

[0067] The first connecting block 601 is provided with a first connecting hole 6013. The first connecting hole 6013 has a first central axis, which is parallel to the first horizontal direction (x-axis shown in Figure 8). One end of the first connecting rod 401 is rotatably connected to the first connecting hole 6013.

[0068] The first connecting block 601 is also provided with a first protrusion 6011 and a second protrusion 6012 that are opposite to and spaced apart along the second horizontal direction (y-axis shown in FIG8). The first protrusion 6011 is close to the finger body 100, and the first connecting protrusion 301 is disposed between the first protrusion 6011 and the second protrusion 6012.

[0069] The first protrusion 6011 is provided with a second connecting hole 6014, the second protrusion 6012 is provided with a third connecting hole 6015, and the first connecting protrusion 301 is provided with a fourth connecting hole 3011. The second connecting hole 6014, the third connecting hole 6015 and the fourth connecting hole 3011 all have a second central axis, which is parallel to the second horizontal direction (y-axis shown in Figure 8).

[0070] The first lower connecting rod 602 is slidably connected to the second connecting hole 6014, the third connecting hole 6015 and the fourth connecting hole 3011, so that the first connecting protrusion 301 is connected to the first connecting block 601.

[0071] The first front spring 603 and the first rear spring 604 are both sleeved on the first lower connecting rod 602. The two ends of the first front spring 603 along its elastic extension direction abut against the first protrusion 6011 and the first connecting protrusion 301, respectively. The two ends of the first rear spring 604 along its elastic extension direction abut against the second protrusion 6012 and the first connecting protrusion 301, respectively.

[0072] The second flexible mechanism 620 may include: a second connecting block 621, a second lower connecting rod 622, a second front spring 623, and a second rear spring 624. The second flexible mechanism 620 and the first flexible mechanism 610 have the same structure, which will not be described in detail here.

[0073] When the finger body 100 swings to the side, it causes the first link 401 to swing. The first link 401 causes the first connecting block 601 to move. The first front spring 603 or the first rear spring 604 is squeezed and undergoes elastic deformation, thereby offsetting most of the impact force.

[0074] When the drive assembly 200 drives the connecting mechanism 400, the first front spring 603 and the first rear spring 604 are compressed and undergo elastic deformation, thereby offsetting most of the impact force and giving the drive assembly 200 good flexible output characteristics.

[0075] In other words, the flexible mechanism in this application embodiment can not only alleviate the force output by the drive component 200, but also alleviate the impact of external forces, achieving a bidirectional shock absorption effect.

[0076] Referring again to Figures 2, 5, 7, 8, and 9, a fifth connecting hole 6016 is provided on the first protrusion 6011, a sixth connecting hole 6017 is provided on the second protrusion 6012, and a seventh connecting hole 3012 is provided on the first connecting protrusion 301. The central axes of the fifth connecting hole 6016, the sixth connecting hole 6017, and the seventh connecting hole 3012 coincide. The central axis of the fifth connecting hole 6016 is parallel to the second horizontal direction (the y-axis shown in Figure 8), and the central axis of the fifth connecting hole 6016 is spaced apart from the second central axis in the vertical direction. The central axis of the fifth connecting hole 6016 is located above the second central axis.

[0077] In this embodiment of the application, the first flexible mechanism 610 further includes a first upper connecting rod 605, which is slidably connected to the fifth connecting hole 6016, the sixth connecting hole 6017 and the seventh connecting hole 3012.

[0078] The diameter of the first upper connecting rod 605 is smaller than the diameter of the first lower connecting rod 602.

[0079] The first lower connecting rod 602 is used to connect the first front spring 603 and the first rear spring 604; the first lower connecting rod 602 and the first upper connecting rod 605 can be used to fix the first connecting block 601 at the same time. The first lower connecting rod 602 and the first upper connecting rod 605 also serve as guide rails, so that the first connecting block 601 can move along the first lower connecting rod 602 and the first upper connecting rod 605.

[0080] If only the first lower connecting rod 602 is provided, the first lower connecting rod 602 will rotate around the y-axis shown in Figure 7. The spacing between the first upper connecting rod 605 and the first lower connecting rod 602 can constrain the rotation of the first lower connecting rod 602 and ensure the installation stability of the first flexible mechanism 610.

[0081] The second flexible mechanism 620 may also include a second upper connecting rod 625. The second flexible mechanism 620 and the first flexible mechanism 610 have the same structure, which will not be described in detail here.

[0082] Referring to Figures 2, 7, and 10, in this embodiment of the application, the bionic dexterous finger further includes: a support 500, which includes a first sidewall 501 and a second sidewall 502 along a second horizontal direction (y-axis shown in Figure 10). A first through hole 5011 is provided on the first sidewall 501, and a second through hole 5021 is provided on the second sidewall 502. A drive screw 201 is disposed in the support 500 through the first through hole 5011, and a bearing seat 5025 is disposed in the second through hole 5021. The end of the drive screw 201 is rotatably connected to the bearing seat 5025.

[0083] The bracket 500 can isolate and protect the drive screw 201, prevent interference with other components, and ensure the rotation of the drive screw 201.

[0084] Meanwhile, the moving mechanism 300 and the flexible mechanism are also installed in the support 500.

[0085] The second sidewall 502 is also provided with a clearance opening 5024. One end of the connecting mechanism 400 is located in the bracket 500, and the other end of the connecting mechanism 400 extends out of the bracket 500 from the clearance opening 5024 and is rotatably connected to the root of the finger body 100.

[0086] The bracket 500 can isolate and protect the moving mechanism 300, flexible mechanism, connecting mechanism 400, etc., to avoid interference with other components, and improve the installation stability of the moving mechanism 300, flexible mechanism, connecting mechanism 400, etc.; at the same time, it makes the overall structure compact.

[0087] Referring again to Figures 2, 7, and 10, in this embodiment, a third through hole is provided on the first sidewall 501, and a fourth through hole 5022 is provided on the second sidewall 502. The two ends of the first lower connecting rod 602 along the second horizontal direction (the y-axis shown in Figure 10) are respectively fixedly connected to the third through hole and the fourth through hole 5022. That is, one end of the first lower connecting rod 602 along the second horizontal direction is fixedly connected to the third through hole, and the other end is fixedly connected to the fourth through hole 5022.

[0088] A fifth through hole is provided on the first sidewall 501, and a sixth through hole 5023 is provided on the second sidewall 502. The two ends of the first upper connecting rod 605 along the second horizontal direction (y-axis shown in Figure 10) are respectively fixedly connected to the fifth through hole and the sixth through hole 5023.

[0089] The first lower connecting rod 602 and the first upper connecting rod 605 are fixed on the bracket 500, which further improves the installation stability of the flexible mechanism and ensures the shock absorption function of the flexible mechanism.

[0090] Referring to Figures 2 and 10, in this embodiment of the application, an arc-shaped support plate 503 is provided on the outer wall surface of the first sidewall 501 away from the second sidewall 502, and the drive assembly 200 is disposed on the arc-shaped support plate 503.

[0091] The arc-shaped support plate 503 is used to support the drive assembly 200, providing support force to the drive assembly 200 and preventing the drive assembly 200 from experiencing uneven force due to its own weight, which would affect the output of the drive screw 201.

[0092] Referring to Figures 7, 8, 11 and 12, in this embodiment of the application, the connecting mechanism 400 further includes a first ball head 404 and a second ball head 405. The first ball head 404 includes a first ball head 4042 and a first segment 4041 adjacent along a first horizontal direction (x-axis shown in Figure 11), and the second ball head 405 includes a second ball head 4052 and a second segment 4051 adjacent along the first horizontal direction.

[0093] One end of the first connecting rod 401 has a first annular connector 4011, which is rotatably connected to the first ball head 4042, and the first rod segment 4041 is fixedly connected to the first flexible mechanism 610; wherein, the first rod segment 4041 is fixedly connected to the first connecting hole 6013 provided on the first connecting block 601.

[0094] One end of the second connecting rod 402 has a second annular connector 4021, which is rotatably connected to the second ball head 4052, and the second rod segment 4051 is fixedly connected to the second flexible mechanism 620.

[0095] The connecting mechanism 400 also includes a third ball joint 403, which has a first end and a second end, both of which are fixedly connected to the base of the finger body 100. The third ball joint 403 is also provided with a third ball head 4031 and a fourth ball head 4032 spaced apart along a first horizontal direction (x-axis shown in Figure 11). The other end of the first connecting rod 401 has a third annular connector 4012, and the other end of the second connecting rod 402 has a fourth annular connector 4022. The third annular connector 4012 is rotatably connected to the third ball head 4031, and the fourth annular connector 4022 is rotatably connected to the fourth ball head 4032.

[0096] The design of the first ball joint 404, the second ball joint 405, and the third ball joint 403 enables the connecting mechanism 400 to be rotatably connected to the finger body 100 and also to the flexible mechanism, ensuring the lifting and lowering functions of the finger body 100.

[0097] Referring again to Figures 9 and 11, the first connecting protrusion 301 is also provided with a relief groove 304, through which the first annular connector 4011 is rotatably connected to the first ball head 4042.

[0098] The following specific embodiments further illustrate the actual use of the bionic dexterous finger provided in this application.

[0099] Example 1:

[0100] The driving component 200 drives the finger body 100 to bend.

[0101] The drive assembly 200 operates and causes the drive screw 201 to rotate. The drive screw 201 drives the moving mechanism 300, which meshes with it, to move back and forth in the direction of the solid arrow shown in Figure 1. The left and right ends of the moving mechanism 300 are not directly connected to the first connecting block 601 and the second connecting block 621, but are flexibly connected through the first front spring 603 and the first rear spring 604, the second front spring 623 and the second rear spring 624. The first ball head 4042 is fixedly connected to the first connecting block 601 and is rotatably connected to the first connecting rod 401. The second ball head 4052 is fixedly connected to the second connecting block 621 and is rotatably connected to the second connecting rod 402. The first connecting rod 401 and the second connecting rod 402 are both rotatably connected to the base of the finger body 100.

[0102] As shown in Figures 1 and 13, when the drive screw 201 drives the moving mechanism 300 forward along the direction of the solid arrow in Figure 1, since the first connecting block 601 and the second connecting block 621 are stationary, the moving mechanism 300 will compress the first front spring 603 and the second front spring 623, causing them to undergo elastic deformation, and simultaneously drive the first connecting block 601 and the second connecting block 621 forward. That is to say, at this time, the first flexible mechanism 610 and the second flexible mechanism 620 move in the same direction, and the first flexible mechanism 610 and the second flexible mechanism 620 will move along the axial direction of the drive screw 201, which is parallel to the direction indicated by the solid arrow in Figure 1; and the first flexible mechanism 610 and the second flexible mechanism 620 move forward.

[0103] Because one end of the first link 401 is rotatably connected to the first connecting block 601 via the first ball joint 4042, and one end of the second link 402 is rotatably connected to the second connecting block 621 via the second ball joint 4052; and the other end of the first link 401 is rotatably connected to the finger body 100 via the third ball joint 4031, and the other end of the second link 402 is rotatably connected to the finger body 100 via the fourth ball joint 4032, when the first connecting block 601 and the second connecting block 621 move forward, they can drive the first link 401 and the second link 402 to rotate around the X-axis, causing the finger body 100 to bend away from the palm.

[0104] Similarly, as shown in Figure 13, when the drive screw 201 drives the moving mechanism 300 to move backward along the direction of the solid arrow shown in Figure 1, the moving mechanism 300 will compress the first rear spring 604 and the second rear spring 624, causing them to undergo elastic deformation. At the same time, it will drive the first connecting block 601 and the second connecting block 621 to move backward. At this time, the first flexible mechanism 610 and the second flexible mechanism 620 move in the same direction. The first flexible mechanism 610 and the second flexible mechanism 620 will move along the axial direction of the drive screw 201, which is parallel to the direction indicated by the solid arrow in Figure 1. The first flexible mechanism 610 and the second flexible mechanism 620 move backward.

[0105] When the first connecting block 601 and the second connecting block 621 move backward, they drive the first link 401 and the second link 402 to rotate around the X-axis, causing the finger body 100 to bend closer to the palm.

[0106] In other words, the output force of the drive assembly 200 is absorbed by the deformation of the spring and will not act directly on the first connecting block 601, the second connecting block 621, the first connecting rod 401 and the second connecting rod 402, so that the drive assembly 200 has good flexible output characteristics.

[0107] Example 2:

[0108] When the driving component 200 drives the finger body 100 to bend, it is subjected to an external force impact that is the same as or opposite to the bending direction.

[0109] When the drive screw 201 drives the moving mechanism 300 forward along the direction of the solid arrow shown in Figure 1, the moving mechanism 300 will compress the first front spring 603 and the second front spring 623, causing them to elastically deform, thereby causing the finger body 100 to bend away from the palm. At the same time, the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 1. This impact force causes the finger body 100 to move away from the palm. The first connecting rod 401 and the second connecting rod 402 will drive the first connecting block 601 and the second connecting block 621 forward along the direction of the solid arrow shown in Figure 1. At this time, the compressive force of the moving mechanism 300 on the first front spring 603 and the second front spring 623 will decrease, and the elastic deformation of the first front spring 603 and the second front spring 623 will decrease. However, at this time, the movement of the first connecting block 601 and the second connecting block 621 will compress the first rear spring 604 and the second rear spring 624, causing them to elastically deform, thereby offsetting the impact force.

[0110] Similarly, as shown in Figure 13, when the drive screw 201 drives the moving mechanism 300 to move backward along the direction of the solid arrow shown in Figure 1, the moving mechanism 300 will compress the first rear spring 604 and the second rear spring 624, causing them to undergo elastic deformation, thereby driving the finger body 100 to bend closer to the palm. At the same time, the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 1. This impact force causes the finger body 100 to continue bending closer to the palm. The first connecting rod 401 and the second connecting rod 402 will drive the first connecting block 601 and the second connecting block 621 to move forward along the direction of the solid arrow shown in Figure 1. At this time, due to the combined action of the moving mechanism 300, the first connecting block 601 and the second connecting block 621, the compressive force on the first rear spring 604 and the second rear spring 624 will increase, thereby offsetting the impact force.

[0111] Example 3:

[0112] When the driving component 200 drives the finger body 100 to bend, it is subjected to an external force impact in the lateral direction.

[0113] When the drive screw 201 moves the moving mechanism 300 forward along the direction of the solid arrow shown in Figure 6, the moving mechanism 300 compresses the first front spring 603 and the second front spring 623, causing them to elastically deform and thus causing the finger body 100 to bend away from the palm. Simultaneously, the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 6, which causes the finger body 100 to sway sideways while bending away from the palm. The first connecting rod 401 moves the first connecting block 601 backward, and the second connecting rod 402 moves the second connecting block 621 forward. The moving mechanism 300 and the first connecting block 601 compress the first front spring 603, and the moving mechanism 300 and the second connecting block 621 compress the second rear spring 624, further compressing the first front spring 603; thereby counteracting the impact force.

[0114] When the drive screw 201 drives the moving mechanism 300 to move backward in the direction of the solid arrow shown in Figure 13, the moving mechanism 300 will compress the first rear spring 604 and the second rear spring 624, causing them to elastically deform, thereby causing the finger body 100 to bend towards the palm. At the same time, the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 5. This impact force causes the finger body 100 to sway sideways while bending towards the palm. The first connecting rod 401 drives the first connecting block 601 to move forward, and the second connecting rod 402 drives the second connecting block 621 to move backward. The moving mechanism 300 and the first connecting block 601 compress the first rear spring 604, and the moving mechanism 300 and the second connecting block 621 compress the second front spring 623, further compressing the first rear spring 604; thereby counteracting the impact force.

[0115] Example 4:

[0116] The drive component 200 stops working, and the finger body 100 is bent by an external impact.

[0117] The finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 1. This impact force causes the finger body 100 to move away from the palm. The first link 401 and the second link 402 will drive the first connecting block 601 and the second connecting block 621 to move forward in the direction of the solid arrow shown in Figure 1. At this time, since the moving mechanism 300 is stationary, the movement of the first connecting block 601 and the second connecting block 621 will compress the first rear spring 604 and the second rear spring 624, causing them to undergo elastic deformation, thereby offsetting the impact force.

[0118] Similarly, when the finger body 100 is subjected to an impact force opposite to the direction of the dashed arrow shown in Figure 1, the impact force causes the finger body 100 to bend toward the palm. The first link 401 and the second link 402 will drive the first connecting block 601 and the second connecting block 621 to move backward along the direction of the solid arrow shown in Figure 1. At this time, since the moving mechanism 300 is stationary, the movement of the first connecting block 601 and the second connecting block 621 will compress the first front spring 603 and the second front spring 623, causing them to undergo elastic deformation, thereby offsetting the impact force.

[0119] It should be noted that when the impact force disappears, the first rear spring 604 and the second rear spring 624, or the first front spring 603 and the second front spring 623, will reset, and the finger body 100 will return to its initial bent position.

[0120] Example 5:

[0121] When the drive component 200 stops working, the finger body 100 is impacted by an external force and sways to the side.

[0122] When the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 6, the finger body 100 swings to the side in the direction of the first connecting block 601, causing the first connecting rod 401 to drive the first connecting block 601 to move backward, and the second connecting rod 402 to drive the second connecting block 621 to move forward; that is, at this time, the movement directions of the first flexible mechanism 610 and the second flexible mechanism 620 are opposite.

[0123] Furthermore, since the drive screw 201 stops rotating when the drive assembly 200 stops working, and the moving mechanism 300 remains stationary, the second rear spring 624 and the first front spring 603 are compressed, causing them to undergo elastic deformation, thereby offsetting the impact force.

[0124] When the finger body 100 is subjected to an impact force in the direction of the dashed arrow shown in Figure 5, the finger body 100 swings to the side in the direction of the second connecting block 621, causing the first connecting rod 401 to drive the first connecting block 601 to move forward, and the second connecting rod 402 to drive the second connecting block 621 to move backward; that is, at this time the first flexible mechanism 610 and the second flexible mechanism 620 move in opposite directions.

[0125] Furthermore, since the drive screw 201 stops rotating when the drive assembly 200 stops working, and the moving mechanism 300 remains stationary, the first rear spring 604 and the second front spring 623 are compressed, causing them to undergo elastic deformation, thereby offsetting the impact force.

[0126] It should be noted that when the impact force disappears, the first rear spring 604 and the second front spring 623, or the second rear spring 624 and the first front spring 603, will reset, and the finger body 100 will return to its initial position.

[0127] This application also provides a bionic robot, including the bionic dexterous fingers described above.

[0128] In summary, this application provides a bionic dexterous finger and a bionic robot. The bionic dexterous finger includes a finger body 100, a drive component 200, and a transmission component. The drive component 200 is disposed at the metacarpophalangeal joint of the palm. The drive screw 201 of the drive component 200 is connected to the root of the finger body 100, so that the drive component 200 can drive the finger body 100 to swing laterally. The transmission assembly includes a moving mechanism 300, a connecting mechanism 400, and a flexible mechanism. The moving mechanism 300 is connected to the drive screw 201. When the drive assembly 200 controls the drive screw 201 to rotate, the moving mechanism 300 can move on the drive screw 201. The flexible mechanism is connected to the moving mechanism 300. One end of the connecting mechanism 400 is rotatably connected to the flexible mechanism, and the other end of the connecting mechanism 400 is rotatably connected to the base of the finger body 100. When the drive assembly 200 does not control the drive screw 201 to rotate, and the right or left side of the finger body 100 is subjected to an external force, the finger body 100 will move along the first horizontal direction (the finger body in Figure 1). The 100-degree lateral swing causes the connecting mechanism 400 to swing to the left or right. When the connecting mechanism 400 swings to the left or right, it applies a pulling force to the flexible mechanism. Since the drive screw 201 stops rotating at this time, the moving mechanism 300 is stationary on the drive screw 201. The flexible mechanism is subjected to forces in different directions applied simultaneously by the moving mechanism 300 and the connecting mechanism 400, causing the flexible mechanism to undergo elastic deformation. The flexible mechanism elastically recovers and drives the finger body 100 to reset. At the same time, the elastic deformation of the flexible mechanism can also offset most of the impact force, achieving the effect of resisting impact and shock absorption, and preventing damage to the base of the finger body 100 when subjected to external impact.

[0129] Furthermore, when the drive assembly 200 controls the drive screw 201 to rotate, the moving mechanism 300 drives the flexible mechanism to move; however, at this time, the connecting mechanism 400 remains stationary. The flexible mechanism is subjected to tension forces in different directions simultaneously applied by the moving mechanism 300 and the connecting mechanism 400, causing the flexible mechanism to undergo elastic deformation. While the drive assembly 200 drives the flexible mechanism to undergo elastic deformation, it also drives the connecting mechanism 400 to cause the finger body 100 to bend towards or away from the palm. The elastic deformation of the flexible mechanism can offset part of the output force of the drive assembly 200. In other words, the drive of the drive assembly 200 to the connecting mechanism 400 is first transmitted to the finger body 100 through the flexible mechanism, giving the drive assembly 200 better flexible output characteristics and providing a certain degree of protection for the drive assembly 200.

[0130] The various embodiments or embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0131] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0132] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0133] It should be readily understood that the terms “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0134] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A bionic dexterous finger, characterized in that, include: Finger body, drive assembly, and transmission assembly; The drive assembly is located at the metacarpophalangeal joint of the palm, and the drive assembly extends outward with a drive screw; The transmission assembly includes a moving mechanism, a connecting mechanism, a first flexible mechanism, and a second flexible mechanism. The moving mechanism is connected to the drive screw in a first horizontal direction. The moving mechanism has a first wall and a second wall facing each other. The first flexible mechanism is connected to a first connecting protrusion on the first wall, and the second flexible mechanism is connected to a second connecting protrusion on the second wall. The connecting mechanism includes a first link and a second link. The two ends of the first link are rotatably connected to the first flexible mechanism and the root of the finger body, respectively. The two ends of the second link are rotatably connected to the second flexible mechanism and the root of the finger, respectively. Both the first flexible mechanism and the second flexible mechanism are capable of moving along a second horizontal direction, which is perpendicular to the first horizontal direction. The drive component drives the first flexible mechanism and the second flexible mechanism to undergo elastic deformation and drives the first link and the second link to cause the finger body to bend toward or away from the palm. When the drive component stops working and the finger body is subjected to an external force along the first horizontal direction, it causes the first and second connecting rods to swing along the first horizontal direction. The first and second connecting rods respectively drive the first and second flexible mechanisms to undergo elastic deformation. The first and second flexible mechanisms elastically recover and drive the finger body to reset; or... When the drive component is working and the finger body is subjected to an external force in any direction, it causes the first link and the second link to swing. The first link and the second link respectively drive the first flexible mechanism and the second flexible mechanism to undergo elastic deformation. The first flexible mechanism and the second flexible mechanism elastically recover and drive the finger body to reset.

2. The bionic dexterous finger according to claim 1, characterized in that, The first flexible mechanism includes: a first connecting block, a first lower connecting rod, a first front spring, and a first rear spring; The first connecting block is provided with a first connecting hole, the first connecting hole has a first central axis, the first central axis is parallel to the first horizontal direction, and one end of the first connecting rod is rotatably connected to the first connecting hole; The first connecting block is further provided with a first protrusion and a second protrusion that are opposite to and spaced apart along the second horizontal direction, and the first connecting protrusion is disposed between the first protrusion and the second protrusion; The first protrusion is provided with a second connecting hole, the second protrusion is provided with a third connecting hole, and the first connecting protrusion is provided with a fourth connecting hole. The second connecting hole, the third connecting hole, and the fourth connecting hole all have a second central axis, which is parallel to the second horizontal direction. The first lower connecting rod is slidably connected to the second connecting hole, the third connecting hole, and the fourth connecting hole; Both the first front spring and the first rear spring are sleeved on the first lower connecting rod, and the two ends of the first front spring along its elastic extension direction abut against the first protrusion and the first connecting protrusion, respectively, and the two ends of the first rear spring along its elastic extension direction abut against the second protrusion and the first connecting protrusion, respectively.

3. The bionic dexterous finger according to claim 2, characterized in that, The first flexible mechanism further includes: a first upper connecting rod; The first protrusion is provided with a fifth connecting hole, the second protrusion is provided with a sixth connecting hole, and the first connecting protrusion is provided with a seventh connecting hole. The central axes of the fifth connecting hole, the sixth connecting hole, and the seventh connecting hole coincide. The central axis of the fifth connecting hole is vertically spaced from the second central axis, and the central axis of the fifth connecting hole is parallel to the second horizontal direction. The first upper connecting rod is slidably connected to the fifth connecting hole, the sixth connecting hole, and the seventh connecting hole.

4. The bionic dexterous finger according to claim 3, wherein, The bionic dexterous finger also includes: a support; Both the moving mechanism and the flexible mechanism are disposed in the bracket; The bracket includes a first sidewall and a second sidewall along the second horizontal direction. A first through hole is provided on the first sidewall, and a second through hole is provided on the second sidewall. The drive screw is disposed in the bracket through the first through hole, and a bearing seat is disposed in the second through hole. The end of the drive screw is rotatably connected to the bearing seat. The second sidewall is also provided with a clearance opening. One end of the connecting mechanism is disposed in the bracket, and the other end of the connecting mechanism extends out of the bracket from the clearance opening and is rotatably connected to the base of the finger body.

5. The bionic dexterous finger according to claim 4, characterized in that, A third through hole is provided on the first side wall, and a fourth through hole is provided on the second side wall. The two ends of the first lower connecting rod along the second horizontal direction are respectively fixedly connected to the third through hole and the fourth through hole. A fifth through hole is provided on the first sidewall, and a sixth through hole is provided on the second sidewall. The two ends of the first upper connecting rod along the second horizontal direction are respectively fixedly connected to the fifth through hole and the sixth through hole.

6. The bionic dexterous finger according to claim 4, characterized in that, An arc-shaped support plate is provided on the outer wall surface of the first sidewall away from the second sidewall, and the driving assembly is disposed on the arc-shaped support plate.

7. The bionic dexterous finger according to claim 1, characterized in that, The connecting mechanism further includes a first ball head and a second ball head, wherein the first ball head includes a first ball head and a first segment adjacent to each other along the first horizontal direction, and the second ball head includes a second ball head and a second segment adjacent to each other along the first horizontal direction; One end of the first connecting rod has a first annular connector, the first annular connector is rotatably connected to the first ball head, and the first rod segment is fixedly connected to the first flexible mechanism; One end of the second connecting rod has a second annular connector, the second annular connector is rotatably connected to the second ball head, and the second rod segment is fixedly connected to the second flexible mechanism; The connecting mechanism further includes a third ball joint, which has a first end and a second end opposite to each other, and both the first end and the second end are fixedly connected to the root of the finger body; The third ball joint is further provided with a third ball head and a fourth ball head spaced apart along the first horizontal direction. The other end of the first connecting rod has a third annular connector, and the other end of the second connecting rod has a fourth annular connector. The third annular connector is rotatably connected to the third ball head, and the fourth annular connector is rotatably connected to the fourth ball head.

8. A biomimetic robot, characterized in that, Including the bionic dexterous fingers described in any one of claims 1-7.

Images