CN-122008299-A - Bionic machinery hand and robot

CN122008299ACN 122008299 ACN122008299 ACN 122008299ACN-122008299-A

Abstract

The invention discloses a bionic manipulator and a robot, wherein the bionic manipulator comprises a mounting base body, a mechanical finger and a swing finger mechanism, the mechanical finger comprises a thumb unit and an auxiliary finger unit which are mounted on the mounting base body, the auxiliary finger units are configured to be in a bent state or a straightened state relative to the mounting base body, the auxiliary finger units are provided with rotating parts which can rotate around first axes, the rotating parts are connected to the mounting base body, the first axes are perpendicular to the mounting base body, the swing finger mechanism is mounted on the mounting base body and connected with the auxiliary finger units and is used for actively deflecting towards a direction close to the thumb unit when the auxiliary finger units are driven to rotate around the first axes along a first direction, and actively deflecting towards a direction far away from the thumb unit when the auxiliary finger units are driven to rotate along a second direction, and the first direction is opposite to the second direction. Therefore, the auxiliary finger unit is actively driven by the finger swinging mechanism to swing relative to the thumb unit, so that the auxiliary finger unit is beneficial to matching with the thumb unit to move for more functional actions.

Inventors

LIU SHIHAO
WU QINGHAI

Assignees

深圳市速腾聚创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251030

Claims (15)

1. A biomimetic manipulator, comprising: A mounting substrate; the mechanical finger comprises a thumb unit and an auxiliary finger unit, wherein the thumb unit and the auxiliary finger unit are both installed on a mounting base body, and the auxiliary finger unit is configured to be in a bent state or a straightened state relative to the mounting base body; The swing finger mechanism is arranged on the mounting base body and connected with the auxiliary finger unit, the swing finger mechanism is used for actively deflecting the auxiliary finger unit around the first axis towards a direction close to the thumb unit when the auxiliary finger unit is driven to rotate along a first direction, and actively deflecting the auxiliary finger unit around the first axis towards a direction far away from the thumb unit when the auxiliary finger unit is driven to rotate along a second direction, and the first direction is opposite to the second direction.
2. The bionic mechanical hand according to claim 1, wherein the swing finger mechanism comprises a swing finger motor and a swing finger assembly, the swing finger motor is mounted on the mounting base body, the swing finger assembly is respectively connected to the swing finger motor and the auxiliary finger unit, and the swing finger assembly is used for driving the auxiliary finger unit to actively swing relative to the thumb unit under the driving of the swing finger motor.
3. The bionic mechanical hand according to claim 2, wherein the swing finger assembly comprises a connecting rod group, a sliding block and a limiting block, one end of the connecting rod group is connected to the output end of the swing finger motor, the other end of the connecting rod group is connected to the sliding block, the limiting block is mounted on the mounting base body, the sliding block is movably arranged on the mounting base body and connected to the auxiliary finger unit, and the limiting block is used for limiting the sliding block to do linear motion; When the swing finger motor drives the connecting rod group to drive the sliding block to move towards the direction close to the auxiliary finger unit, the sliding block pushes the auxiliary finger unit to rotate along a first direction around the first axis, and when the swing finger motor drives the connecting rod group to drive the sliding block to move towards the direction far away from the auxiliary finger unit, the sliding block pulls the auxiliary finger unit to rotate along a second direction around the first axis.
4. The bionic mechanical hand according to claim 3, wherein the sliding block is provided with a socket hole, the auxiliary finger unit is provided with a socket post, the socket post is inserted into the socket hole, and the caliber of the socket hole is larger than the outer diameter of the socket post.
5. The bionic mechanical hand according to claim 3, wherein the limiting block is provided with a limiting groove, and the sliding block is arranged in the limiting groove and moves linearly along the limiting groove.
6. The bionic mechanical hand according to claim 5, wherein the mounting base body is provided with an interlayer cavity and a mounting opening communicated with the interlayer cavity, the limiting block is mounted on the mounting base body and is partially positioned in the mounting opening, and the limiting groove is communicated with the mounting opening.
7. The biomimetic manipulator of claim 6, wherein the limiting block comprises a fixed portion and a limiting portion connected, the fixed portion is connected to the mounting base, and the limiting portion is located in the mounting opening and provided with the limiting groove.
8. The bionic mechanical hand according to claim 7, wherein the sliding block comprises a sliding part, a sleeving part and a connecting part which are connected, the sleeving part is positioned at one end of the sliding part, which is away from the finger swinging motor, the sliding part is slidably arranged in the limiting groove, one end of the connecting part is connected with the sliding part, and the other end of the connecting part is connected with the connecting rod group.
9. The bionic mechanical hand according to claim 2, wherein the mounting base is provided with a limiting hole; The auxiliary finger unit comprises an inserting column and a limiting column, the inserting column and the limiting column are respectively located at two opposite ends of the auxiliary finger unit, the inserting column is connected with the swing finger assembly, the limiting column is inserted into the limiting hole, the outer diameter of the limiting column is smaller than the caliber of the limiting hole, and the limiting column is used for restraining the auxiliary finger unit to deflect relative to the installation base body.
10. The biomimetic manipulator of claim 1, wherein the number of the auxiliary finger units is four, namely an index finger unit, a middle finger unit, a ring finger unit and a tail finger unit, wherein the index finger unit, the middle finger unit, the ring finger unit and the tail finger unit are all detachably mounted on the mounting base body, and the index finger unit, the middle finger unit, the ring finger unit and the tail finger unit can be in the bent state or the straightened state relative to the mounting base body, and at least one of the index finger unit, the middle finger unit, the ring finger unit and the tail finger unit is connected to the finger swinging mechanism.
11. The biomimetic manipulator of claim 10, further comprising a drive mechanism mounted to the mounting base and coupled to the thumb unit, the drive mechanism configured to drive the thumb unit closer to or farther from the index finger unit to adjust the distance between the thumb unit and the index finger unit, and to drive the thumb unit to swing relative to the index finger unit toward or away from the centre of the mounting base.
12. The biomimetic manipulator of claim 11, wherein the driving mechanism comprises a swinging member and a first driving assembly, one end of the swinging member is connected with the thumb unit, the other end of the swinging member is connected with the first driving assembly, the first driving assembly is connected with the mounting base body, and the first driving assembly drives the swinging member to drive the thumb unit to move so as to adjust the distance between the thumb unit and the index finger unit or to adjust the thumb unit to swing towards the palm face close to or far from the mounting base body.
13. The biomimetic robotic arm of claim 12, wherein said mounting base comprises a first mounting seat; The first driving assembly comprises a first transmission shaft, a first gear set and a driving motor set, the first transmission shaft is rotatably arranged on the first mounting seat, the first gear set and the swinging piece are movably arranged on the first transmission shaft, the driving motor set is arranged on the first mounting seat, and the output end of the driving motor set is connected with the first gear set; the driving motor group is configured to drive the swinging piece to rotate around the first transmission shaft when the driving motor group is in a first working state so as to adjust the distance between the thumb unit and the index finger unit, and drive the swinging piece to rotate in the same direction with the transmission shaft when the driving motor group is in a second working state so that the thumb unit swings along with the swinging piece, and the swinging direction comprises a direction approaching to the palm face of the installation base body or a direction far away from the palm face of the installation base body.
14. The biomimetic robotic arm of claim 1, further comprising a sensor board disposed on a palm face of the mounting base and/or a palm back face of the mounting base; And/or, the device further comprises a shell, wherein the shell is sleeved on the installation base body, and the shell is provided with a finger opening for the thumb unit and the auxiliary finger unit to penetrate out.
15. A robot comprising a biomimetic manipulator according to any one of claims 1-14 and a robot body, said biomimetic manipulator being mounted to said robot body.

Description

Bionic machinery hand and robot Technical Field The embodiment of the invention relates to the field of robots, in particular to a bionic manipulator and a robot. Background In some radiation scenes, extreme weather or dangerous environments, robots can replace people to work, and operation instructions are completed by using bionic manipulators of the robots. A biomimetic manipulator is an end effector of a robot, which generally includes a thumb unit and an auxiliary finger unit that are used in cooperation to simulate the action of a human hand, thereby helping a user to work in place of the human hand. The number of the auxiliary finger units is set according to the requirement, and when the auxiliary finger units are one, two or more than two, for example, four auxiliary finger units are named as an index finger unit, a middle finger unit, a ring finger unit and a tail finger unit respectively. However, the auxiliary finger unit of the bionic manipulator in the market has a simpler structure, and usually only has a finger bending action or a finger straightening action, so that the use scene of the bionic manipulator is limited, and inconvenience is brought. Disclosure of Invention In order to solve the technical problems, the embodiment of the invention provides a bionic manipulator and a robot which are convenient to use, and can realize the swinging movement of an auxiliary finger unit relative to a mounting base body. The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows: A bionic manipulator comprises a mounting base body, a mechanical finger and a swing finger mechanism, wherein the mechanical finger comprises a thumb unit and an auxiliary finger unit, the thumb unit and the auxiliary finger unit are both mounted on the mounting base body, the auxiliary finger unit is configured to be in a bent state or a straightened state relative to the mounting base body, the auxiliary finger unit is provided with a rotating part capable of rotating relative to the mounting base body around a first axis, the rotating part is rotatably connected to the mounting base body, the first axis is perpendicular to the mounting base body, the swing finger mechanism is mounted on the mounting base body and connected with the auxiliary finger unit, the swing finger mechanism is used for actively deflecting the auxiliary finger unit around the first axis towards a direction close to the thumb unit when the auxiliary finger unit is driven to rotate in a second direction, and the auxiliary finger unit is actively deflected around the first axis towards a direction far away from the thumb unit when the auxiliary finger unit is driven to rotate in the second direction, and the first direction is opposite to the second direction. In some embodiments, the swing finger mechanism includes a swing finger motor and a swing finger assembly, the swing finger motor is mounted on the mounting base, the swing finger assembly is respectively connected to the swing finger motor and the auxiliary finger unit, and the swing finger assembly is used for driving the auxiliary finger unit to actively swing relative to the thumb unit under the driving of the swing finger motor. In some embodiments, the swing finger assembly includes a link group, a sliding block and a limiting block, wherein one end of the link group is connected to an output end of the swing finger motor, the other end of the link group is connected to the sliding block, the limiting block is mounted on the mounting base body, the sliding block is movably arranged on the mounting base body and connected to the auxiliary finger unit, and the limiting block is used for restraining the sliding block to do linear motion; When the swing finger motor drives the connecting rod group to drive the sliding block to move towards the direction close to the auxiliary finger unit, the sliding block pushes the auxiliary finger unit to rotate along a first direction around the first axis, and when the swing finger motor drives the connecting rod group to drive the sliding block to move towards the direction far away from the auxiliary finger unit, the sliding block pulls the auxiliary finger unit to rotate along a second direction around the first axis. In some embodiments, the sliding block is provided with a socket hole, the auxiliary finger unit is provided with a socket post, the socket post is inserted in the socket hole, and the caliber of the socket hole is larger than the outer diameter of the socket post. In some embodiments, the limiting block is provided with a limiting groove, and the sliding block is arranged in the limiting groove and moves linearly along the limiting groove. In some embodiments, the mounting base is provided with a sandwich cavity and a mounting opening communicated with the sandwich cavity, the limiting block is mounted on the mounting base and extends into the mounting opening, and the limiting groove