Bionic hand mechanism and robot using same

Abstract

The invention discloses a bionic hand mechanism which comprises an arm assembly, a palm assembly and five finger assemblies. A motor and a reel driven by the motor to rotate are arranged in the arm assembly, a pull wire is wound on the reel, each finger assembly comprises four joints, the four joints of each finger assembly are respectively a first joint, a second joint, a third joint and a fourth joint, the finger assemblies have twenty-one degrees of freedom in total, and the third joints of the index fingers, the third joints of the middle fingers, the third joints of the ring fingers and the third joints of the little fingers rotate in two directions through two-degree-of-freedom ball shafts correspondingly. The pull wire is adopted to simulate a tendon structure of a real human hand, the joints are connected through rotating shafts and second degrees of freedom ball shafts, the motor for controlling the pull wire is located on the arm and does not occupy the space in fingers and the palm assembly, so that the structural design is more compact, the finger action is highly flexible, the action of the human hand can be completely simulated, meanwhile, the requirement for larger gripping force is met, and the normal human hand strength can be achieved.

Description

technical field [0001] The invention relates to a bionic hand mechanism and a robot using the bionic hand mechanism, belonging to the technical field of robots. Background technique [0002] The field of intelligent bionic hand technology at home and abroad was initiated in the 1990s. Up to now, it has realized EEG signal control, simple pinching and grasping, basic tactile feedback, etc. The medical field has obtained a certain range of applications, but it still cannot allow the recipients to obtain the ability closer to the real hand. Most of the existing bionic manipulators at home and abroad use ultra-miniature steering gear and push rod micro-motor devices for their power mechanisms, which are usually installed in the palm assembly, so only micro-motors with small size and low power can be used. In addition, the transmission structure of the finger joints is complex, so the mechanical efficiency of this kind of manipulator is low, and the overall grasping strength is ...

AI Technical Summary

Problems solved by technology

[0003] The patent application with the publication number CN109227586A and the publication date of 2019.01.18 discloses a bionic hand with a pull wire. This bionic hand includes a palm assembly mechanism and a finger mechanism. Each finger mechanism is equipped with a support block and a pull wire. The pull wires respectively pass through the support block and are connected to the stepping motor to realize the control of the finger mechanism. In this bionic hand, the pull wire passes through the pull wire tube and the support block in turn. The number of degrees of freedom of the joints of the simulated human hand is insufficient, and each finger lacks the root swing. Degree of freedom, so it is not flexible enough to use, and many fine movements cannot be realized

In addition, this bionic hand uses a cable tube to simulate bones, and the support block and the tube are connected by a cable. Once the cable breaks, the support block and the tube will be separated, so the overall grip of this bionic is relatively small.

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