CN212399615U

CN212399615U - Bionic finger and bionic hand

Info

Publication number: CN212399615U
Application number: CN202020739581.1U
Authority: CN
Inventors: 程二亭; 姚秀军; 崔丽华
Original assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Current assignee: Jingdong Shuke Haiyi Information Technology Co Ltd; Jingdong Technology Information Technology Co Ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-01-26
Anticipated expiration: 2030-05-08

Abstract

The embodiment of the application discloses a bionic finger and a bionic hand. One embodiment of the bionic finger comprises: the anti-skidding outer member is fixedly connected with the far palm end knuckle through the clamping groove. The problem of among the prior art anti-skidding external member drop easily is solved, bionic finger life has been improved.

Description

Bionic finger and bionic hand

Technical Field

The embodiment of the application relates to the technical field of artificial intelligence, in particular to the technical field of manipulators, and especially relates to a bionic finger and a bionic hand.

Background

In the process of bending motion of the existing bionic fingers, the anti-skidding sleeve on the fingers is directly adhered to the fingers by glue, and the anti-skidding sleeve is easy to fall off from the fingers along with continuous motion and aging of the glue.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a bionic finger and a bionic hand.

In a first aspect, an embodiment of the present application provides a bionic finger and a bionic hand, including: the anti-skidding outer member is fixedly connected with the far palm end finger joint through the clamping groove.

In some embodiments, the upper end of the anti-slip sleeve is provided with a sleeve head, the sleeve head is sleeved with the end part of the distal palm end knuckle, the sleeve body of the anti-slip sleeve is provided with a convex sleeve body corresponding to the inner shape of the distal palm end knuckle, and the sleeve body is embedded in the distal palm end knuckle and the clamping groove.

In some embodiments, the biomimetic finger further comprises: and two ends of the forked connecting rod are respectively hinged with the fixed base and the far palm end knuckle, and the fixed base drives the far palm end knuckle to perform bending motion through the forked connecting rod.

In some embodiments, the proximal palm-end knuckle is provided with a through hole with a non-circular groove, the distal palm-end knuckle is provided with a through hole corresponding to the through hole on the proximal palm-end knuckle, and the distal palm-end knuckle is fixedly connected with the proximal palm-end knuckle through a penetrating shaft.

In some embodiments, the proximal metacarpal end knuckle is hingedly connected to the fixed base.

In some embodiments, the slot is irregularly shaped.

In some embodiments, the inner side of the slip resistant sleeve and the outer side of the slip resistant sleeve are provided with a slip resistant coating.

In some embodiments, the slip resistant sleeve is a plastic material.

In some embodiments, the exposed part of the anti-slip sleeve is provided with a convex point, and the convex point is provided with an anti-slip coating.

In a second aspect, an embodiment of the present application provides a bionic hand, which includes a bionic finger, where the bionic finger is a bionic finger of any one of the first aspect.

The bionical finger and bionical hand that this application embodiment provided includes: the bionic finger comprises a fixed base, a near palm end knuckle and a far palm end knuckle which are arranged on the fixed base, and an anti-skidding external member arranged on the far palm end knuckle, wherein a clamping groove is formed in the far palm end knuckle, the anti-skidding external member is fixedly connected with the far palm end knuckle through the clamping groove, the problem that the anti-skidding external member is easy to fall off in the prior art is solved by utilizing a physical connection mode, and the service life of the bionic finger is prolonged.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic structural diagram of one embodiment of a biomimetic finger provided herein;

FIG. 2 is a schematic structural diagram of a forked link in one embodiment of the biomimetic finger provided herein;

FIG. 3 is a schematic structural diagram of another embodiment of a biomimetic finger provided herein;

FIG. 4 is a schematic structural diagram of a distal metacarpal end knuckle of an embodiment of a biomimetic finger provided herein;

FIG. 5 is a schematic structural diagram of a penetrating shaft of one embodiment of a bionic finger provided by the present application;

FIG. 6 is a schematic diagram of a finger movement process of one embodiment of a biomimetic finger provided herein;

FIG. 7 is a schematic structural view of a bionic finger after longitudinal cutting according to an embodiment of the bionic finger provided by the present application;

FIG. 8 is a schematic diagram of a construction of one embodiment of a bionic hand provided herein.

Detailed Description

The principles and features of the present application are described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Please refer to fig. 1, which shows a schematic structural diagram of an embodiment of the bionic finger provided by the present application. The bionic finger in the embodiment can comprise a fixed base 1, a near palm end knuckle 2 arranged on the fixed base 1, a far palm end knuckle 3 and an anti-skidding external member 4 arranged on the far palm end knuckle 3, two symmetrical clamping grooves 5 are arranged on the far palm end knuckle 3, the anti-skidding external member 4 is fixedly connected with the far palm end knuckle 3 through the clamping grooves 5, the near palm end knuckle 2 is hinged to the fixed base 1, the clamping grooves 5 are in irregular annular shapes, the anti-skidding external member 4 is fixedly connected with the clamping grooves 5, and anti-skidding coatings are arranged on the inner side and the outer side of the anti-skidding external member 4.

In this embodiment, the bionic finger further includes a fork-shaped connecting rod 6, as shown in fig. 2, two ends of the fork-shaped connecting rod 6 are respectively hinged to the fixing base 1 and the distal palm end knuckle 3, and the fixing base 1 drives the distal palm end knuckle 3 to perform bending motion through the fork-shaped connecting rod 6. By utilizing the forked connecting rod, the strength of the connecting rod is increased, and the service life of the bionic finger is further prolonged.

It will be appreciated that the slip resistant kit of the above embodiments may be constructed of a plastic material, such as a rubber material, plastic, resinous material, or the like. As can be seen from the figure, the shape of the clamping groove can be round, square or an irregular ring combining round and square. Therefore, the anti-slip kit is not easy to fall off, the overall firmness is increased, and the overall weight of the bionic finger and the bionic hand can be properly reduced.

It should be noted that the structure, number and installation position of the connecting parts in fig. 1 and 2 are only schematic. Can be adjusted according to actual conditions.

In some optional implementations of this embodiment, the exposed portion of the anti-slip kit is provided with a bump, and the bump has an anti-slip coating thereon. The bionic finger has a stronger anti-skidding effect and is not easy to drop when grabbing objects.

As can be seen from fig. 1, the bionic finger in this embodiment adopts a fixed base, a proximal palm end knuckle and a distal palm end knuckle which are arranged on the fixed base, and an anti-slip kit which is arranged on the distal palm end knuckle, wherein a clamping groove is arranged on the distal palm end knuckle, the anti-slip kit is fixedly connected with the distal palm end knuckle through the clamping groove, and the problem that the anti-slip kit is easy to fall off in the prior art is solved by using a physical connection mode, so that the service life of the bionic finger is prolonged.

Fig. 3 is a schematic structural diagram of another embodiment of the bionic finger provided by the present application.

In this embodiment, the top of the anti-slip kit 4 is provided with a sleeve head 7, the sleeve head 7 is sleeved with the end of the distal palm end knuckle 3, the sleeve body of the anti-slip kit 4 is provided with a convex sleeve body 8 corresponding to the inner shape of the distal palm end knuckle 3, the sleeve body 8 is embedded in the distal palm end knuckle 3 and the clamping groove 5, and the inner side of the anti-slip kit and the outer side of the anti-slip kit are both provided with an anti-slip coating.

As shown in fig. 4 and 5, in this embodiment, the proximal palm end knuckle 2 is provided with a through hole 9 having a non-circular groove, the distal palm end knuckle is provided with a through hole corresponding to the through hole on the proximal palm end knuckle, and the distal palm end knuckle is fixedly connected to the proximal palm end knuckle through a through shaft 10.

As shown in fig. 6 and 7, in some application scenarios, in the process of the bending motion of the bionic finger, a moment acts between the distal palm end knuckle and the through shaft, and the through shaft head is matched with the through hole with the non-circular groove, so that the through shaft is not rotatable even under the action of the moment, the problem that the distal palm end knuckle is easy to loosen due to the adoption of an interference fit fixing mode in the prior art is solved, and the effect of loosening the distal palm end knuckle is achieved.

It should be noted that the structures and the installation positions in fig. 3, 4, 5, 6, and 7 are merely schematic.

On the other hand, the embodiment of the application also provides a bionic hand, as shown in fig. 8, comprising a bionic finger, wherein the bionic finger is any one of the bionic fingers.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the present invention is not limited to the specific combination of the above-mentioned features, but also covers other embodiments formed by any combination of the above-mentioned features or their equivalents without departing from the spirit of the present invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A biomimetic finger, comprising: the anti-skidding outer member is fixedly connected with the far palm end finger joint through the clamping groove.

2. The bionic finger according to claim 1, wherein a sleeve head is arranged at the uppermost end of the anti-slip sleeve, the sleeve head is sleeved with the end part of the far palm end knuckle, a protruding sleeve body corresponding to the inner shape of the far palm end knuckle is arranged on the sleeve body of the anti-slip sleeve, and the sleeve body is embedded in the far palm end knuckle and the clamping groove.

3. The biomimetic finger of claim 1, further comprising: and two ends of the forked connecting rod are respectively hinged with the fixed base and the far palm end knuckle, and the fixed base drives the far palm end knuckle to perform bending motion through the forked connecting rod.

4. The bionic finger according to claim 1, wherein the proximal palm-end knuckle is provided with a through hole with a non-circular groove, the distal palm-end knuckle is provided with a through hole corresponding to the through hole on the proximal palm-end knuckle, and the distal palm-end knuckle is fixedly connected with the proximal palm-end knuckle through a through shaft.

5. The biomimetic finger according to claim 1, wherein the proximal metacarpal end knuckle is hinged with the fixed base.

6. The biomimetic finger according to claim 1, wherein the slot is irregularly ring shaped.

7. The biomimetic finger of claim 1, wherein the inner side of the slip resistant kit and the outer side of the slip resistant kit are provided with a slip resistant coating.

8. The biomimetic finger of claim 1, wherein the slip prevention kit is a plastic material.

9. The bionic finger as claimed in claim 1, wherein the exposed part of the anti-slip kit is provided with a convex point, and the convex point is provided with an anti-slip coating.

10. A bionic hand comprising a bionic finger, wherein the bionic finger is as claimed in any one of claims 1-9.