CN110604637A - Bionic finger and manipulator - Google Patents
Bionic finger and manipulator Download PDFInfo
- Publication number
- CN110604637A CN110604637A CN201911003782.3A CN201911003782A CN110604637A CN 110604637 A CN110604637 A CN 110604637A CN 201911003782 A CN201911003782 A CN 201911003782A CN 110604637 A CN110604637 A CN 110604637A
- Authority
- CN
- China
- Prior art keywords
- knuckle
- hinge
- rotatably connected
- connecting rod
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 230000003592 biomimetic effect Effects 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a bionic finger and a manipulator, wherein the bionic finger comprises: a base (8); a first knuckle (7) rotatably connected to the base (8) by a first hinge (9); a second knuckle (11) rotatably connected to the first knuckle (7) by a second hinge (6); a third knuckle (1) rotatably connected to the second knuckle (11) by a third hinge (3); one end of the first connecting rod (12) is rotatably connected with the base (8) through a fourth hinge part (13), and the other end of the first connecting rod is rotatably connected with the second knuckle (11) through a fifth hinge part (4); and a second connecting rod (10), one end of which is rotatably connected with the first knuckle (7) through a sixth hinge part (5), and the other end of which is rotatably connected with the third knuckle (1) through a seventh hinge part (2). By applying the technical scheme of the invention, the problem of low flexibility of finger extension and flexion in the related technology is solved.
Description
Technical Field
The invention relates to the field of myoelectricity bionic devices, in particular to a bionic finger and a manipulator.
Background
The existing myoelectricity bionic finger mechanism realizes the bending and stretching of fingers by driving a connecting rod mechanism through a motor, the bending and stretching flexibility of the fingers is seriously restricted by the size of a connecting rod and the grade number of the connecting rod, and the bending and stretching flexibility of the fingers is greatly reduced due to the existence of a single-stage connecting rod mechanism.
Disclosure of Invention
The invention aims to provide a bionic finger to solve the problem of low flexibility of finger extension and flexion in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a biomimetic finger including:
a base;
the first knuckle is rotatably connected with the base through a first hinge part;
the second knuckle is rotatably connected with the first knuckle through a second hinge part;
the third knuckle is rotatably connected with the second knuckle through a third hinge part;
one end of the first connecting rod is rotatably connected with the base through a fourth hinge part, and the other end of the first connecting rod is rotatably connected with the second finger section through a fifth hinge part; and
one end of the second connecting rod is rotatably connected with the first knuckle through a sixth hinge part, and the other end of the second connecting rod is rotatably connected with the third knuckle through a seventh hinge part.
Optionally, a line connecting the first hinge and the second hinge intersects the first link.
Optionally, a line connecting the second hinge and the third hinge intersects the second link.
Optionally, the first hinge is located inboard of the fourth hinge.
Alternatively,
the second hinge is located inboard of the sixth hinge; and (c) and (d).
The fifth hinge is located inboard of the second hinge.
Optionally, the seventh hinge is located inboard of the third hinge.
Alternatively,
the first knuckle comprises a first shell, and at least part of the first connecting rod is sleeved in the first shell; and
the second knuckle comprises a second shell, and at least part of the second connecting rod is sleeved in the second shell.
Optionally, the bionic finger further comprises a connecting part for connecting a driving part for driving the first knuckle to rotate towards the inner side, and the connecting part is arranged on the first knuckle.
Optionally, the connecting portion comprises an arcuate aperture extending circumferentially of the first hinge portion.
According to another aspect of the invention, a manipulator is also provided, and the manipulator comprises the bionic finger.
By applying the technical scheme of the invention, the first knuckle drives the second knuckle to rotate through the first connecting rod in the rotating process of the first knuckle, and simultaneously the first knuckle drives the third knuckle to rotate through the first connecting rod. Therefore, in the embodiment, the first knuckle can drive the second knuckle and the third knuckle to rotate simultaneously so as to realize flexion and extension of the bionic finger, and thus the flexibility of the bionic finger in the flexion and extension process is improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 shows a schematic structural diagram of a biomimetic finger of an embodiment of the present invention;
FIG. 2 shows a schematic structural view of the interior of a biomimetic finger of an embodiment of the present invention;
FIG. 3 shows a perspective structural schematic of a biomimetic finger of an embodiment of the present invention; and
fig. 4 shows a schematic structural diagram of a bionic finger flexion and extension process according to an embodiment of the invention.
In the figure:
1. a third knuckle; 2. a seventh hinge; 3. a third hinge; 4. a fifth hinge; 5. a sixth hinge; 6. a second hinge portion; 7. a first knuckle; 8. a base; 9. a first hinge portion; 10. a second link; 11. a second knuckle; 12. a first link; 13. a fourth hinge portion; 14. a connecting portion.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a schematic structural diagram of a bionic finger of the present embodiment; fig. 2 is a schematic structural view showing the inside of the bionic finger of the present embodiment; FIG. 3 is a perspective view of the bionic finger of the present embodiment; fig. 4 shows a schematic structural diagram of the bionic finger flexion and extension process of the embodiment.
Referring to fig. 1 to 4, the bionic finger of the present embodiment includes a base 8, a first knuckle 7, a second knuckle 11, a third knuckle 1, a first link 12, and a second link 10.
The first knuckle 7 is rotatably connected with the base 8 through a first hinge 9; the second knuckle 11 is rotatably connected with the first knuckle 7 through the second hinge part 6; the third knuckle 1 is rotatably connected to the second knuckle 11 by a third hinge 3.
One end of the first link 12 is rotatably connected to the base 8 via the fourth hinge 13, and the other end is rotatably connected to the second knuckle 11 via the fifth hinge 4.
One end of the second link 10 is rotatably connected to the first knuckle 7 via the sixth hinge 5, and the other end is rotatably connected to the third knuckle 1 via the seventh hinge 2.
In this embodiment, during the inward rotation of the first knuckle 7, the first link 12 causes the second knuckle 11 to rotate inward, and the second link 10 causes the third knuckle 1 to rotate.
Referring to fig. 4, when the first knuckle 7 rotates counterclockwise, the first knuckle 7 rotates in conjunction with the second knuckle 11 under the guiding and interlocking action of the first link 12, and the second knuckle 11 rotates in conjunction with the third knuckle 1 under the guiding and interlocking action of the second link 10.
The line connecting the first hinge 9 and the second hinge 6 intersects the first link 12. The line connecting the second hinge portion 6 and the third hinge portion 3 intersects the second link 10.
As shown in fig. 1 to 3, the first hinge 9 is located inside the fourth hinge 13.
The second hinge 6 is located inside the sixth hinge 5. The fifth hinge 4 is located inboard of the second hinge 6.
As shown in fig. 1 to 3, the seventh hinge 2 is located inside the third hinge 3.
The first knuckle 7 comprises a first shell, at least part of the first connecting rod 12 is sleeved in the first shell; the second knuckle 11 comprises a second housing, and at least a part of the second link 10 is sleeved in the second housing.
The bionic finger further comprises a connecting part 14 used for connecting a driving part for driving the first knuckle 7 to rotate towards the inner side, and the connecting part 14 is arranged on the first knuckle 7.
The connecting portion 14 includes an arc-shaped hole extending along the circumferential direction of the first hinge portion 9. The driving part includes a motor. The motor rotates the in-process and drives the round pin axle that inserts the arc hole to rotate to make first knuckle 7 rotate. In the process of rotating the first knuckle 7, the first connecting rod 12 drives the second knuckle 11 to rotate, and simultaneously the first knuckle 7 drives the third knuckle 1 to rotate through the first connecting rod 10. Therefore, in the embodiment, the first knuckle 7 can drive the second knuckle 11 and the third knuckle 1 to rotate simultaneously to achieve flexion and extension of the bionic finger, so that flexibility of the bionic finger in a flexion and extension process is improved.
In this embodiment, the first knuckle 7 comprises a finger seat, the second knuckle 11 comprises a finger pulp, and the third knuckle 1 comprises a finger tip.
According to another aspect of the present invention, the present embodiment also provides a manipulator including the above bionic finger.
The present invention is not limited to the above exemplary embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A biomimetic finger, comprising:
a base (8);
a first knuckle (7) rotatably connected to the base (8) by a first hinge (9);
a second knuckle (11) rotatably connected to the first knuckle (7) by a second hinge (6);
a third knuckle (1) rotatably connected to the second knuckle (11) by a third hinge (3);
a first connecting rod (12), one end of which is rotatably connected with the base (8) through a fourth hinge part (13), and the other end of which is rotatably connected with the second knuckle (11) through a fifth hinge part (4); and
and one end of the second connecting rod (10) is rotatably connected with the first knuckle (7) through a sixth hinge part (5), and the other end of the second connecting rod is rotatably connected with the third knuckle (1) through a seventh hinge part (2).
2. The biomimetic finger according to claim 1, wherein a line connecting the first hinge (9) and the second hinge (6) intersects the first link (12).
3. The biomimetic finger according to claim 1, wherein a line connecting the second hinge (6) and the third hinge (3) intersects the second link (10).
4. The biomimetic finger according to claim 1, wherein the first hinge (9) is located inside the fourth hinge (13).
5. The biomimetic finger of claim 1,
the second hinge (6) is located inside the sixth hinge (5); and (c) and (d).
The fifth hinge (4) is located inside the second hinge (6).
6. The biomimetic finger according to claim 1, wherein the seventh hinge (2) is located inside the third hinge (3).
7. The biomimetic finger of claim 1,
the first knuckle (7) comprises a first shell, and at least part of the first connecting rod (12) is sleeved in the first shell; and
the second knuckle (11) comprises a second shell, and at least part of the second connecting rod (10) is sleeved in the second shell.
8. The bionic finger according to claim 1, characterized by further comprising a connecting part (14) for connecting a driving part for driving the first knuckle (7) to rotate towards the inner side, wherein the connecting part (14) is arranged on the first knuckle (7).
9. The biomimetic finger according to claim 9, wherein the connection portion (14) comprises an arcuate hole extending along a circumference of the first hinge portion (9).
10. A manipulator, characterized by comprising a biomimetic finger according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911003782.3A CN110604637A (en) | 2019-10-22 | 2019-10-22 | Bionic finger and manipulator |
| PCT/CN2020/109994 WO2021077877A1 (en) | 2019-10-22 | 2020-08-19 | Bionic finger and mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911003782.3A CN110604637A (en) | 2019-10-22 | 2019-10-22 | Bionic finger and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110604637A true CN110604637A (en) | 2019-12-24 |
Family
ID=68894888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911003782.3A Pending CN110604637A (en) | 2019-10-22 | 2019-10-22 | Bionic finger and manipulator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110604637A (en) |
| WO (1) | WO2021077877A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
| CN113618757A (en) * | 2020-05-08 | 2021-11-09 | 北京海益同展信息科技有限公司 | Bionic finger, bionic manipulator and bionic robot |
| WO2022199002A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113748883B (en) * | 2021-07-16 | 2022-11-01 | 江苏苏润种业股份有限公司 | Hot pepper does not have soil and plants big-arch shelter |
| CN114028043A (en) * | 2021-12-07 | 2022-02-11 | 上海黑焰医疗科技有限公司 | Bionic finger prosthesis |
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2019
- 2019-10-22 CN CN201911003782.3A patent/CN110604637A/en active Pending
-
2020
- 2020-08-19 WO PCT/CN2020/109994 patent/WO2021077877A1/en active Application Filing
Patent Citations (6)
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| CN106239552A (en) * | 2016-08-22 | 2016-12-21 | 黄仕 | A kind of bionic mechanical hand |
| CN106363655A (en) * | 2016-11-28 | 2017-02-01 | 成都炬石科技有限公司 | Bionic mechanical arm and bionic robot |
| CN206598295U (en) * | 2017-03-22 | 2017-10-31 | 江苏金刚文化科技集团股份有限公司 | A kind of bionic mechanical arm and robot |
| CN108673540A (en) * | 2018-08-01 | 2018-10-19 | 北京因时机器人科技有限公司 | Mechanical finger and manipulator |
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
| CN211985796U (en) * | 2019-10-22 | 2020-11-24 | 北京海益同展信息科技有限公司 | Bionic finger and manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
| CN113618757A (en) * | 2020-05-08 | 2021-11-09 | 北京海益同展信息科技有限公司 | Bionic finger, bionic manipulator and bionic robot |
| CN113618757B (en) * | 2020-05-08 | 2023-09-26 | 京东科技信息技术有限公司 | Bionic manipulator and bionic robot |
| WO2022199002A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021077877A1 (en) | 2021-04-29 |
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