WO2021129378A1

WO2021129378A1 - Bionic hand, and bionic robot

Info

Publication number: WO2021129378A1
Application number: PCT/CN2020/134525
Authority: WO
Inventors: 程二亭; 韩久琦
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2019-12-23
Filing date: 2020-12-08
Publication date: 2021-07-01
Also published as: CN110842966A

Abstract

A bionic hand and a bionic robot. The bionic hand comprises a bionic palm (11), a bionic finger (13), a middle connection portion (12), and a connector. The bionic palm (11) has a palmar side and a dorsal side. The middle connection portion (12) is provided on the bionic palm (11) and is connected to the bionic finger (13). One of either the middle connection portion (12) and the bionic palm (11) has a positioning protrusion, and the other has a positioning recess matching the positioning protrusion. The positioning recess has an opening located on the palmar side. The middle connection portion (12) and the bionic palm (11) are positioned by means of the engagement between the positioning protrusion and the positioning recess. The connector connects the bionic palm (11) to the middle connection potion (12). The bionic hand achieves positioning between the middle connection portion (12) and the bionic palm (11) by using the engagement between the positioning protrusion and the positioning recess, and uses the connector to establish a connection, thereby simplifying the structure of the bionic hand and facilitating installation and disassembly compared to the related art in which multiple connectors are required.

Description

Bionic hand and bionic robot

This application is based on the application whose CN application number is 201911334422.1 and the application date is December 23, 2019, and claims its priority. The disclosure of this CN application is hereby incorporated into this application as a whole.

Technical field

The present disclosure relates to the field of robots, in particular to a bionic hand and a bionic robot.

Background technique

As one of the key components of the bionic robot, the bionic hand is the main executive part of the bionic robot to interact with the environment. Therefore, the performance of the bionic hand greatly affects the performance of the bionic robot.

The fingers of the bionic hand are connected to the palm. In the related technologies known to the inventor, multiple connectors are generally required to realize the positioning and connection of the bionic hand.

Summary of the invention

Research has found that numerous parts and components in the relevant technology of the bionic hand will lead to a complex structure.

In view of this, the present disclosure provides a bionic hand and a bionic robot to simplify the structure of the bionic hand.

In one aspect of the present disclosure, a bionic hand is provided, including:

Bionic palm, with palm side and back side;

Bionic finger

The middle connecting part is arranged on the bionic palm and connected with the bionic fingers, one of the middle connecting part and the bionic palm has a positioning protrusion, the other has a positioning groove matching the positioning protrusion, and the positioning groove has an opening located on the palm side; with

The connecting piece, the middle connecting part and the bionic palm are coordinated and positioned through the positioning protrusions and the positioning grooves, and the connecting piece connects the bionic palm and the middle connecting part.

In some embodiments, the bionic palm is a bent plate, and the bending part of the bent plate is provided with a first groove. The inner wall of the first groove on the back side of the hand is provided with a second groove. The groove forms a positioning groove.

In some embodiments, the second groove includes three side walls arranged in the circumferential direction and a cylindrical groove arranged between two adjacent side walls, and the cylindrical groove is recessed to the outside with respect to the side walls.

In some embodiments, the intermediate connecting portion includes two connecting plates spaced apart in the width direction, and the bionic finger is rotatably connected to the connecting plate.

In some embodiments, the connecting plate is provided with a first rotating shaft, the first rotating shaft is located at the end of the connecting plate on the palm side, and the bionic finger rotates around the first rotating shaft.

In some embodiments, the bionic hand further includes a driving mechanism and a connecting rod assembly arranged between the driving mechanism and the bionic finger.

In some embodiments, the connecting plate is further provided with a second rotating shaft, and the connecting rod assembly is connected with the second rotating shaft and rotates around the second rotating shaft to drive the bionic finger to rotate.

In some embodiments, the bionic hand includes at least two bionic fingers and at least two driving mechanisms corresponding to the at least two bionic fingers, and at least two mounting holes corresponding to the at least two driving mechanisms are provided on the bionic palm.

In some embodiments, the bionic hand further includes a base provided on the lower side of the mounting hole for placing the driving mechanism.

In another aspect of the present disclosure, a bionic robot is provided, including the above-mentioned bionic hand.

Based on the technical solution provided by the present disclosure, the bionic hand includes a bionic palm, bionic fingers, a middle connecting part and a connecting piece. The bionic palm has a palm side and a back side. One of the bionic palms has a positioning protrusion, and the other has a positioning groove that matches with the positioning protrusion. The positioning groove has an opening on the palm side. The piece connects the bionic palm and the middle connecting part. The bionic hand of the present disclosure realizes the positioning between the middle connecting part and the bionic palm by using the positioning protrusion and the positioning groove, and uses the connecting piece to connect. Compared with the need for multiple connecting pieces in the related art, The structure of the bionic hand is simplified, which facilitates installation and disassembly.

Through the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings.

FIG. 1 is a schematic diagram of a three-dimensional structure of a bionic hand according to an embodiment of the disclosure;

FIG. 2 is a schematic diagram of another perspective three-dimensional structure of the bionic hand according to the embodiment of the disclosure;

3 is a schematic diagram of the three-dimensional structure of the bionic palm in FIG. 1;

4 is a schematic diagram of the rear view structure of the bionic palm shown in FIG. 3;

FIG. 5 is a schematic diagram of the three-dimensional structure of the intermediate connecting portion in FIG. 1.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the bionic hand and the bionic robot of the present disclosure will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present disclosure, and not used to limit the present disclosure.

Referring to FIGS. 1 to 5, the bionic hand of the embodiment of the present disclosure includes:

Bionic palm 11, with palm side and back side;

Bionic finger 13; and

The middle connecting portion 12 is arranged on the bionic palm 11 and connected with the bionic fingers 13. One of the middle connecting portion 12 and the bionic palm 11 has a positioning protrusion, and the other has a positioning groove that matches the positioning protrusion. Opening on the palm side;

The connecting piece, the middle connecting portion 12 and the bionic palm 11 are coordinated and positioned by positioning protrusions and positioning grooves, and the connecting piece connects the bionic palm 11 and the middle connecting portion 12.

The bionic hand of the embodiment of the present disclosure realizes the positioning between the intermediate connecting portion 12 and the bionic palm 11 by using the positioning protrusion and the positioning groove to cooperate, and uses the connecting piece to connect, which requires multiple connections in the related art. Compared with the parts, the structure of the bionic hand is simplified, which facilitates installation and disassembly. Moreover, in the embodiment of the present disclosure, the side wall of the positioning groove on the palm side is removed to form an opening to reduce weight and facilitate processing.

Specifically, in this embodiment, the connecting piece is a threaded connecting piece.

As shown in FIG. 5, the intermediate connecting portion 12 of this embodiment includes two connecting plates 122 spaced apart in the width direction, and the bionic finger 13 is rotatably connected to the connecting plate 122.

Specifically, as shown in FIG. 5, the connecting plate 122 is provided with a first rotating shaft 123 and a second rotating shaft 124, and the bionic finger 13 rotates around the first rotating shaft 123.

The first rotating shaft 123 of this embodiment is located at the end of the connecting plate 122 on the palm side.

As shown in FIG. 1, the bionic hand of this embodiment further includes a driving mechanism and a link assembly 14 arranged between the driving mechanism and the bionic finger 13. The driving mechanism drives the linkage assembly 14 to move, thereby driving the bionic finger 13 to move. The connecting rod assembly 14 is connected with the second rotating shaft and rotates around the second rotating shaft to drive the bionic finger to rotate.

Specifically, the driving mechanism is a motor 15.

In this embodiment, the bionic hand includes at least two bionic fingers 13 and a driving mechanism corresponding to the at least two bionic fingers 13, and the bionic palm 11 is provided with a mounting hole 11c for installing the driving mechanism. Each bionic finger 13 is independently driven to improve the motion sensitivity of the bionic hand.

As shown in FIG. 1, the bionic hand of this embodiment further includes a motor base 16 provided on the lower side of the mounting hole 11c.

As shown in Figures 1 and 3, the bionic palm 11 of this embodiment is a bending plate, the bending part of the bending plate is provided with a first groove 11a, and the inner wall of the first groove 11a on the back side of the hand is opened There is a second groove 11b, and the second groove 11b forms a positioning groove. Since the bionic finger 13 is rotatably arranged relative to the bionic palm 11, the arrangement of the first groove 11a prevents the bionic finger 13 from interfering with the bionic palm 11 when it rotates to the palm side.

As shown in FIG. 3, the second groove 11b includes three side walls arranged in the circumferential direction and a cylindrical groove 11d arranged between two adjacent side walls. The cylindrical groove 11d is concave outwardly relative to the side walls. Into. The arrangement of the cylindrical groove 11d facilitates the fit between the positioning protrusion and the positioning groove, and also facilitates processing.

It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or a central element may also be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

In the description of the present disclosure, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for ease of description, not to limit the text. Disclosure of the implementable scope, and the change or adjustment of the relative relationship, shall be regarded as the implementable scope of the present disclosure without substantial changes to the technical content.

The above-mentioned embodiments only express several implementation manners of the present disclosure, and their descriptions are more specific and detailed, but they should not be understood as limiting the scope of the present disclosure. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the appended claims.

Claims

A bionic hand, including:

Bionic palm (11), with palm side and back side;

Bionic finger (13);

The intermediate connecting portion (12) is arranged on the bionic palm (11) and connected with the bionic fingers (13), wherein one of the intermediate connecting portion (12) and the bionic palm (11) has a positioning convex First, the other has a positioning groove that cooperates with the positioning protrusion, and the positioning groove has an opening on the palm side; and

Connecting piece, the middle connecting portion (12) and the bionic palm (11) are positioned in cooperation with the positioning protrusion and the positioning groove, and the connecting piece connects the bionic palm (11) and the middle Connecting part (12).
The bionic hand according to claim 1, wherein the bionic palm (11) is a bending plate, and a first groove (11a) is provided at the bending position of the bending plate, and the first groove ( A second groove (11b) is opened on the inner wall of 11a) on the side of the back of the hand, and the second groove (11b) forms the positioning groove.
The bionic hand according to claim 2, wherein the second groove (11b) includes three side walls arranged in the circumferential direction and a cylindrical groove (11d) arranged between two adjacent side walls , The cylindrical groove (11d) is recessed to the outside with respect to the side wall.
The bionic hand according to claim 1, wherein the intermediate connecting portion (12) comprises two connecting plates (122) arranged at intervals in the width direction, and the bionic finger (13) is rotatably connected to the On the connection board (122).
The bionic hand according to claim 4, wherein the connecting plate (122) is provided with a first rotating shaft (123), and the first rotating shaft (123) is located at the center of the palm of the connecting plate (122). At the end of the side, the bionic finger (13) rotates around the first rotating shaft (123).
The bionic hand according to claim 1, further comprising a driving mechanism and a link assembly (14) provided between the driving mechanism and the bionic finger (13).
The bionic hand according to claim 6, wherein the connecting plate (122) is further provided with a second rotating shaft (124), and the connecting rod assembly (14) is connected to the second rotating shaft (124) and circulates around it. The second rotating shaft (124) rotates to drive the bionic finger (13) to rotate.
The bionic hand according to claim 6, wherein the bionic hand comprises at least two bionic fingers (13) and at least two driving mechanisms arranged corresponding to the at least two bionic fingers (13), and the bionic palm (11) is provided with at least two mounting holes (11c) corresponding to the at least two driving mechanisms.
The bionic hand according to claim 8, further comprising a base, the base being arranged on the lower side of the mounting hole (11c) to place the driving mechanism.
A bionic robot comprising the bionic hand according to any one of claims 1-9.