A flipping device for coupling and decoupling orthogonal degrees of freedom for wire drive

Abstract

The present invention provides a flipping device for orthogonal degree-of-freedom coupling and decoupling of wire drive, which relates to the technical field of degree-of-freedom coupling and decoupling devices. The device includes a device body, which includes a first rolling surface and a first limiting surface. A first wire groove unit is provided on the first rolling surface, and a first constraint wire group and a first drive wire group are placed in the first wire groove unit. A second wire groove unit is provided on the first limiting surface, and a second drive wire group is placed in the second wire groove unit. The opposite side of the first rolling surface is provided with a second rolling surface. A first side surface and a second side surface are provided between the first rolling surface, the first limiting surface and the second rolling surface. A first wire hole unit is provided on the first side surface, and a second wire hole unit is provided on the second side surface. A third wire hole unit and a fourth wire hole unit that are communicated with the first wire hole unit and the second wire hole unit are simultaneously provided on the second rolling surface. It avoids the action loading or unloading of the corresponding joints on the bionic finger, and enhances the accuracy and controllability of the movement of the bionic finger.

Description

Technical Field

[0001] The present invention relates to the technical field of degrees-of-freedom coupling and decoupling devices, and particularly to a flipping device for orthogonal degrees-of-freedom coupling and decoupling for wire drive. Background Art

[0002] When a human hand performs daily grasping, the fingers are often in a state of opening or closing at various angles. Wire drive is one of the transmission forms with the highest similarity to the action mechanisms of tendons and ligaments when imitating fingers. Therefore, it is necessary to achieve the degree of freedom of the wire drive in the adduction-abduction direction.

[0003] When implementing the degree-of-freedom movement of the wire drive in the adduction-abduction direction, since each drive wire in the wire-driven bionic finger has different orientations and stretching characteristics, when actually performing adduction-abduction, the orientation of each drive wire at the mechanism for realizing this degree of freedom will change, thereby causing each drive wire to tighten or relax, resulting in the loading or unloading of the actions of the corresponding joints on the bionic finger, thus weakening the accuracy and controllability of the movement of the bionic finger.

[0004] Therefore, the above technical problems need to be further solved. Summary of the Invention

[0005] The objective of the embodiment of the present invention is to provide a flipping device for orthogonal degrees-of-freedom coupling and decoupling for wire drive, so as to avoid the loading or unloading of the actions of the corresponding joints on the bionic finger and enhance the accuracy and controllability of the movement of the bionic finger.

[0006] To solve the above technical problems, the embodiment of the present invention provides the following technical solutions:

[0007] The first aspect of the present invention provides a flipping device for orthogonal degrees-of-freedom coupling and decoupling for wire drive, including a device body. The device body includes a first rolling surface and a first limiting surface connected to the first rolling surface. A first wire groove unit is provided on the first rolling surface, and a first constraint wire group and a first drive wire group are placed in the first wire groove unit. A second wire groove unit is provided on the first limiting surface, and a second drive wire group is placed in the second wire groove unit. A second rolling surface is provided on the opposite side of the first rolling surface, and a first arc surface and a limiting boss for restricting the degree of freedom of the device body along the normal direction of the bionic palm are respectively provided on the second rolling surface;

[0008] A first side surface and a second side surface are provided between the first rolling surface, the first limiting surface, and the second rolling surface. A first wire hole unit is provided on the first side surface, a second wire hole unit is provided on the second side surface, and a third wire hole unit and a fourth wire hole unit communicating with the first wire hole unit and the second wire hole unit are simultaneously provided on the second rolling surface.

[0009] Further, a curved surface connecting portion recessed toward the second rolling surface side is provided between the first rolling surface and the first limiting surface.

[0010] Further, the first wire groove unit includes:

[0011] A first constraint wire groove, provided on the first rolling surface near the first side surface;

[0012] A second constraint wire groove, provided on the first rolling surface near the second side surface;

[0013] A first decoupling drive wire groove, provided between the first constraint wire groove and the second constraint wire groove, and one end of the first decoupling drive wire groove is located on the first rolling surface, and the other end of the first decoupling drive wire groove is located on the first arc surface;

[0014] A second decoupling drive wire groove, provided between the first decoupling drive wire groove and the second constraint wire groove, and one end of the second decoupling drive wire groove is located on the first rolling surface, and the other end of the first decoupling drive wire groove is located on the first arc surface;

[0015] Wherein, the second decoupling drive wire groove is provided in the middle of the first rolling surface.

[0016] Further, a first through hole communicating with the first constraint wire groove is provided on the second rolling surface, a first finger end rolling constraint wire anchor point is provided at the first through hole, and a second through hole communicating with the second constraint wire groove is provided, and a second finger end rolling constraint wire anchor point is provided at the second through hole;

[0017] The first decoupling drive wire groove near the first arc surface is provided with a bending portion bent toward the second constraint wire groove side, and the second decoupling drive wire groove is linear.

[0018] Further, the first constraint wire group includes:

[0019] A first finger end rolling constraint wire, provided in the first constraint wire groove, and one end of the first finger end rolling constraint wire is connected to the end of the first constraint wire groove, and the other end of the first finger end rolling constraint wire is connected to the bionic finger;

[0020] A second finger end rolling constraint wire, provided in the second constraint wire groove, and one end of the second finger end rolling constraint wire is connected to the end of the second constraint wire groove, and the other end of the second finger end rolling constraint wire is connected to the bionic finger.

[0021] Further, the first drive wire group includes:

[0022] An extension drive line is disposed in the first decoupling drive groove, and both ends of the extension drive line penetrate out of the first decoupling drive groove;

[0023] A first interphalangeal joint drive line is disposed in the second decoupling drive groove, and both ends of the first interphalangeal joint drive line penetrate out of the second decoupling drive groove.

[0024] Further, the second wire groove unit includes:

[0025] A first drive groove is disposed on the first limiting surface near the first side surface;

[0026] A second drive groove is disposed on the first limiting surface near the second side surface;

[0027] Wherein, the axial direction of the first drive groove and the axial direction of the first constraint groove are the same straight line, and the axial direction of the second drive groove and the axial direction of the second constraint groove are the same straight line.

[0028] Further, the second drive line group includes:

[0029] A first metacarpophalangeal joint drive line is placed in the first drive groove, and one end of the first metacarpophalangeal joint drive line is connected to the bionic finger, and the other end of the first metacarpophalangeal joint drive line is connected to the bionic palm;

[0030] A second metacarpophalangeal joint drive line is placed in the second drive groove, and one end of the second metacarpophalangeal joint drive line is connected to the bionic finger, and the other end of the second metacarpophalangeal joint drive line is connected to the bionic palm.

[0031] Further, the first wire hole unit includes a first constraint wire hole disposed on the first side surface near the first rolling surface, and a second constraint wire hole disposed on the first side surface near the first limiting surface;

[0032] The second wire hole unit includes a third constraint wire hole disposed on the second side surface near the first rolling surface, and a fourth constraint wire hole disposed on the second side surface near the first limiting surface;

[0033] A first constraint wire anchor point is disposed at the first constraint wire hole, a second constraint wire anchor point is disposed at the second constraint wire hole, a third constraint wire anchor point is disposed at the third constraint wire hole, and a fourth constraint wire anchor point is disposed at the fourth constraint wire hole.

[0034] Further, the third wire hole unit includes a fifth constraint wire hole provided on the second rolling surface close to the second constraint wire hole side, and a sixth constraint wire hole provided on the second rolling surface close to the fourth constraint wire hole side;

[0035] The fourth wire hole unit includes a seventh constraint wire hole provided on the second rolling surface close to the first constraint wire hole side, and an eighth constraint wire hole provided on the second rolling surface close to the third constraint wire hole side;

[0036] A first channel is provided between the second constraint wire hole and the fifth constraint wire hole, and a first palm end rolling constraint wire is provided in the first channel. A second channel is provided between the fourth constraint wire hole and the sixth constraint wire hole, and a second palm end rolling constraint wire is provided in the second channel. A third channel is provided between the third constraint wire hole and the eighth constraint wire hole, and a third palm end rolling constraint wire is provided in the third channel. A fourth channel is provided between the first constraint wire hole and the seventh constraint wire hole, and a fourth palm end rolling constraint wire is provided in the fourth channel.

[0037] Compared with the prior art, the flipping device for linear drive orthogonal degree of freedom coupling and decoupling provided by the first aspect of the present invention drives the bionic finger to stretch in the first wire groove unit through the first constraint wire group and constrains the stretching process, and the first drive wire group realizes decoupling in the first wire groove unit. The second drive wire group is in the second wire groove unit and is simultaneously connected to the bionic finger and the bionic palm. The first limiting surface is used to limit the movement range of the flexion and extension degree of freedom of the finger. The device body will not generate movement along the normal direction of the bionic palm due to the constraint of the limiting boss, so that the bionic finger can bear the load along the normal direction of the bionic palm. The flexion of the bionic finger will not generate flexion greater than 90° due to the constraint of the first limiting surface, so as to realize a movement range consistent with that of the human hand. The first wire hole unit and the second wire hole unit are simultaneously connected to the third wire hole unit and the fourth wire hole unit for the constraint wire to pass through to achieve coordination, ensuring that the device body can perform adduction and abduction movements on the top of the bionic palm along the first arc surface. Therefore, the action loading or unloading of the corresponding joints on the bionic finger is avoided, and the accuracy and controllability of the movement of the bionic finger are strengthened. Description of the Drawings

[0038] By reading the following detailed description with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the drawings, several embodiments of the present invention are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0039] Figure 1Schematically shows a right - hand three - dimensional structure diagram of a flipping device for the coupling and decoupling of orthogonal degrees of freedom for wire drive;

[0040] Figure 2 Schematically shows a left - hand three - dimensional structure diagram of a flipping device for the coupling and decoupling of orthogonal degrees of freedom for wire drive;

[0041] Figure 3 Schematically shows a structure diagram of a first wire groove unit;

[0042] Figure 4 Schematically shows a structure diagram of a second tumbling surface;

[0043] Figure 5 Schematically shows a structure diagram of a second decoupling drive wire groove;

[0044] Figure 6 Schematically shows a structure diagram of a first decoupling drive wire groove;

[0045] Figure 7 Schematically shows a structure diagram of a first channel and a second channel;

[0046] Figure 8 Schematically shows a structure diagram of a third channel and a fourth channel;

[0047] Explanation of the reference numerals in the drawings:

[0048] 1. First tumbling surface; 11. First wire groove unit; 111. First constraint wire groove; 112. Second constraint wire groove; 113. First decoupling drive wire groove; 114. Second decoupling drive wire groove; 12. Third channel; 13. Fourth channel; 14. Third palm - end rolling constraint wire; 15. Fourth palm - end rolling constraint wire;

[0049] 2. First limiting surface; 21. Second wire groove unit; 211. First drive wire groove; 212. Second drive wire groove; 22. Second channel; 23. First channel; 24. Second palm - end rolling constraint wire; 25. First palm - end rolling constraint wire;

[0050] 3. First drive wire group; 31. Extension drive wire; 32. First interphalangeal joint drive wire;

[0051] 4. First constraint wire group; 41. First finger - end rolling constraint wire; 42. Second finger - end rolling constraint wire;

[0052] 5. Second drive wire group; 51. First metacarpophalangeal joint drive wire; 52. Second metacarpophalangeal joint drive wire;

[0053] 6. Limiting boss;

[0054] 7. Second side; 71. Third constraint line anchor point; 72. Fourth constraint line anchor point; 73. Third constraint line hole; 74. Fourth constraint line hole;

[0055] 8. First side; 81. First constraint line anchor point; 82. Second constraint line anchor point; 83. First constraint line hole; 84. Second constraint line hole;

[0056] 9. Second rolling surface; 91. Third line hole unit; 911. Fifth constraint line hole; 912. Sixth constraint line hole; 92. Fourth line hole unit; 921. Eighth constraint line hole; 922. Seventh constraint line hole; 93. Second through hole; 94. First through hole; 95. First turning arc surface;

[0057] 10. Curved surface connecting part. Detailed implementation mode

[0058] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0059] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present invention should have the ordinary meaning understood by those skilled in the art to which the present invention belongs. In this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Terms such as "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Terms such as "including" and "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0060] An embodiment of the present invention provides a flipping device for linear drive orthogonal degree of freedom coupling and decoupling, combined with Figure 1 、Figure 2 , Figure 3 and Figure 4 , including a device body, the device body includes a first rolling surface 1 and a first limiting surface 2 connected to the first rolling surface 1. A first wire groove unit 11 is provided on the first rolling surface 1, and a first constraint wire group 4 and a first driving wire group 3 are placed in the first wire groove unit 11. A second wire groove unit 21 is provided on the first limiting surface 2, and a second driving wire group 5 is placed in the second wire groove unit 21. A second rolling surface 9 is provided on the opposite side of the first rolling surface 1, and a first arc-shaped surface 95 and a limiting boss 6 for restricting the normal degree of freedom of the device body along the bionic palm are respectively provided on the second rolling surface 9. A first side surface 8 and a second side surface 7 are provided between the first rolling surface 1, the first limiting surface 2, and the second rolling surface 9. A first wire hole unit is provided on the first side surface 8, a second wire hole unit is provided on the second side surface 7, and a third wire hole unit 91 and a fourth wire hole unit 92 communicating with the first wire hole unit and the second wire hole unit are simultaneously provided on the second rolling surface 9.

[0061] Specifically, the first constraint wire group drives the bionic finger to expand and contract in the first wire groove unit 11 and constrains the expansion and contraction process. The first driving wire group 3 is decoupled in the first wire groove unit 11. The second driving wire group 5 is in the second wire groove unit 21 and is simultaneously connected to the bionic finger and the bionic palm. The first limiting surface 2 is used to limit the movement range of the flexion and extension degree of freedom of the finger. Due to the constraint of the limiting boss 6, the device body will not generate movement along the normal direction of the bionic palm, so that the bionic finger can bear the load along the normal direction of the bionic palm. The flexion of the bionic finger will not generate flexion greater than 90° due to the constraint of the first limiting surface 2, thus realizing a movement range consistent with that of the human hand. The first wire hole unit and the second wire hole unit are simultaneously connected to the third wire hole unit 91 and the fourth wire hole unit 92 for the constraint wire to pass through to achieve coordination, ensuring that the device body can perform adduction and abduction movements along the first arc-shaped surface 95 at the top of the bionic palm. Therefore, the action loading or unloading of the corresponding joints on the bionic finger is avoided, and the accuracy and controllability of the movement of the bionic finger are strengthened.

[0062] In order to increase the connection area between the first rolling surface 1 and the first limiting surface 2 and facilitate the bionic finger to make contact on this connection area, in a specific embodiment, in combination with Figure 1 and Figure 3 , a curved surface connection portion 10 recessed toward the second rolling surface 9 side is provided between the first rolling surface 1 and the first limiting surface 2.

[0063] In a specific embodiment, such as Figure 3As shown in the figure, the first wire groove unit 11 includes a first constraint wire groove 111, a second constraint wire groove 112, a first decoupling drive wire groove 113, and a second decoupling drive wire groove 114. The first constraint wire groove 111 is disposed on the first rolling surface 1 near the first side surface 8. The second constraint wire groove 112 is disposed on the first rolling surface 1 near the second side surface 7. The first decoupling drive wire groove 113 is disposed between the first constraint wire groove 111 and the second constraint wire groove 112, and one end of the first decoupling drive wire groove 113 is located on the first rolling surface 1, and the other end of the first decoupling drive wire groove 113 is located on the first arc surface 95. The second decoupling drive wire groove 114 is disposed between the first decoupling drive wire groove 113 and the second constraint wire groove 112, and one end of the second decoupling drive wire groove 113 is located on the first rolling surface 1, and the other end of the first decoupling drive wire groove 113 is located on the first arc surface 95. Among them, the second decoupling drive wire groove 114 is disposed in the middle of the first rolling surface 1.

[0064] Specifically, the first constraint wire groove 111 and the second constraint wire groove 112 are connected to the left and right sides of the bionic finger through the respective constraint wires passing through the interior, so as to realize the flexion and extension movements of the bionic finger along the first rolling surface 1.

[0065] The first decoupling drive wire groove 113 and the second decoupling drive wire groove 114 are used to lead out the first drive wire group 3 of the bionic finger, so that the bionic finger will not generate coupled movement of the proximal interphalangeal joint and the antagonistic moment resisting the adduction and abduction of the finger when performing adduction and abduction movements.

[0066] There is no intersection between the first constraint wire groove 111, the second constraint wire groove 112, the first decoupling drive wire groove 113, and the second decoupling drive wire groove 114.

[0067] The first constraint wire groove 111, the second decoupling drive wire groove 114, and the second constraint wire groove 112 have the same length, and the length of the first decoupling drive wire groove 113 is less than the length of the second decoupling drive wire groove 114.

[0068] In a specific embodiment, as Figure 4 shown, a first through hole 94 communicating with the first constraint wire groove 111 is provided on the second rolling surface 9, a first finger tip rolling constraint wire anchor point is provided at the first through hole 94, and a second through hole 93 communicating with the second constraint wire groove 112 is provided, and a second finger tip rolling constraint wire anchor point is provided at the second through hole 93.

[0069] In order to further achieve decoupling, the first decoupling drive wire groove 113 near the first arc surface 95 is provided with a bending portion bent toward the second constraint wire groove 112 side, as Figure 6 shown. The second decoupling drive wire groove 114 is straight, as Figure 5 shown.

[0070] In a specific embodiment, in combination with Figure 1 , Figure 2 and Figure 3 , the first constraint line group 111 includes a first finger tip rolling constraint line 41 and a second finger tip rolling constraint line 42. The first finger tip rolling constraint line 41 is disposed in the first constraint line groove 111, and one end of the first finger tip rolling constraint line 41 is connected to the end of the first constraint line groove 111, and the other end of the first finger tip rolling constraint line 41 is connected to the bionic finger. The second finger tip rolling constraint line 42 is disposed in the second constraint line groove 112, and one end of the second finger tip rolling constraint line 42 is connected to the end of the second constraint line groove 112, and the other end of the second finger tip rolling constraint line 42 is connected to the bionic finger.

[0071] Specifically, the first finger tip rolling constraint line 41 passes through the first constraint line groove 111 and is connected to the bionic finger. At the same time, the leading end of the first finger tip rolling constraint line 41 in the first constraint line groove 111 constrains between the device body and the bionic finger through the second finger tip rolling constraint line anchor point.

[0072] The second finger tip rolling constraint line 42 passes through the second constraint line groove 112 and is connected to the bionic finger. At the same time, the leading end of the second finger tip rolling constraint line 42 in the second constraint line groove 112 constrains between the device body and the bionic finger through the second finger tip rolling constraint line anchor point.

[0073] In a specific embodiment, in combination with Figure 1 , Figure 2 and Figure 3 , the first drive line group 3 includes an extension drive line 31 and a first interphalangeal joint drive line 32. The extension drive line 31 is disposed in the first decoupling drive line groove 113, and both ends of the extension drive line 31 penetrate out of the first decoupling drive line groove 113. The first interphalangeal joint drive line 32 is disposed in the second decoupling drive line groove 114, and both ends of the first interphalangeal joint drive line 32 penetrate out of the second decoupling drive line groove 114.

[0074] Specifically, the extension drive line 31 for driving the bionic finger to reset penetrates into the first decoupling drive line groove 113 from the upper side and is led out from the lower side of the first decoupling drive line groove 113, and is connected to the power device through the bionic palm, so as to realize the reset of the bionic finger after flexion, and the length of the extension drive line 31 will not be changed due to the adduction and abduction of the bionic finger, thereby realizing the decoupling of the reset moment during adduction and abduction.

[0075] The first interphalangeal joint drive line 32 for driving the proximal interphalangeal joint penetrates through the upper side of the second decoupling drive wire groove 114 and exits from the lower side of the second decoupling drive wire groove 114, and is connected to the power device through the bionic palm, so that the length of the first interphalangeal joint drive line 32 does not change when the bionic finger adducts, abducts, flexes and extends, realizing motion decoupling.

[0076] The first interphalangeal joint drive line 32 is introduced from the upper end of the second decoupling drive wire groove 114 and exits from the lower end of the second decoupling drive wire groove 114. The extension drive line 31 is introduced from the upper end of the first decoupling drive wire groove 113 and exits from the lower end of the first decoupling drive wire groove 113, and crosses to the opposite side and is introduced into the bionic palm, so as to prevent the coupling movement of the proximal interphalangeal joint and the antagonistic moment resisting the adduction and abduction of the bionic finger when the bionic finger makes adduction and abduction movements.

[0077] In a specific embodiment, as Figure 3 shown, the second wire groove unit 21 includes a first drive wire groove 211 and a second drive wire groove 212. The first drive wire groove 211 is arranged on the first limiting surface 2 close to the first side surface 8. The second drive wire groove 212 is arranged on the first limiting surface 2 close to the second side surface 7. Wherein, the axial direction of the first drive wire groove 211 and the axial direction of the first constraint wire groove 111 are the same straight line, and the axial direction of the second drive wire groove 212 and the axial direction of the second constraint wire groove 112 are the same straight line.

[0078] Specifically, the first drive wire groove 211 and the second drive wire groove 212 are used to lead out wires to drive the second drive wire group 5 of the bionic finger, so as to drive the bionic finger to flex and extend along the first rolling surface 1 and drive the bionic finger to adduct and abduct along the first arc surface 95.

[0079] In a specific embodiment, as Figure 1 shown, the second drive wire group 5 includes a first metacarpophalangeal joint drive line 51 and a second metacarpophalangeal joint drive line 52. The first metacarpophalangeal joint drive line 51 is placed in the first drive wire groove 211, and one end of the first metacarpophalangeal joint drive line 51 is connected to the bionic finger, and the other end of the first metacarpophalangeal joint drive line 51 is connected to the bionic palm. The second metacarpophalangeal joint drive line 52 is placed in the second drive wire groove 212, and one end of the second metacarpophalangeal joint drive line 52 is connected to the bionic finger, and the other end of the second metacarpophalangeal joint drive line 52 is connected to the bionic palm.

[0080] Specifically, since the axes of the first metacarpophalangeal joint drive line 51 and the second metacarpophalangeal joint drive line 52 are not parallel to the axis of the first arc surface 95 and there is an offset, a moment arm is provided for the adduction and abduction of the bionic finger. When the first metacarpophalangeal joint drive line 51 and the second metacarpophalangeal joint drive line 52 perform differential motion, the device body can drive the bionic finger to move along the first arc surface 95 for adduction and abduction together. At the same time, the first metacarpophalangeal joint drive line 51 and the second metacarpophalangeal joint drive line 52 and the axes of the device body and the first rolling surface 1 are in a staggered form that is perpendicular and non-intersecting on the normal projection plane of the bionic palm surface. When the first metacarpophalangeal joint drive line 51 and the second metacarpophalangeal joint drive line 52 perform the same motion simultaneously, the bionic finger moves in the flexion and extension directions on the first rolling surface 1, and at this time, the device body remains stationary.

[0081] In a specific embodiment, in combination with Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , the first line hole unit includes a first constraint line hole 83 provided on the first side surface 8 near the first rolling surface 1, and a second constraint line hole 84 provided on the first side surface 8 near the first limiting surface 2. The second line hole unit includes a third constraint line hole 73 provided on the second side surface 7 near the first rolling surface 1, and a fourth constraint line hole 74 provided on the second side surface 7 near the first limiting surface 2. A first constraint line anchor 81 is provided at the first constraint line hole 83, a second constraint line anchor 82 is provided at the second constraint line hole 84, a third constraint line anchor 71 is provided at the third constraint line hole 73, and a fourth constraint line anchor 72 is provided at the fourth constraint line hole 74.

[0082] Specifically, the fourth constraint line hole 74 and the second constraint line hole 84 are connected to the palm side of the bionic palm through the respective constraint lines passing through the inside, and the third constraint line hole 73 and the first constraint line hole 81 are connected to the back side of the bionic palm through the respective constraint lines passing through the inside.

[0083] In a specific embodiment, in combination with Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 7 and Figure 8, the third wire hole unit includes a fifth constraint wire hole 911 provided on the second rolling surface 9 near the second constraint wire hole 84, and a sixth constraint wire hole 912 provided on the second rolling surface 9 near the fourth constraint wire hole 74. The fourth wire hole unit includes a seventh constraint wire hole 922 provided on the second rolling surface 9 near the first constraint wire hole 83, and an eighth constraint wire hole 921 provided on the second rolling surface 9 near the third constraint wire hole 73. A first channel 23 is provided between the second constraint wire hole 82 and the fifth constraint wire hole 911, and a first palm end rolling constraint wire 25 is provided in the first channel 23. A second channel 22 is provided between the fourth constraint wire hole 74 and the sixth constraint wire hole 912, and a second palm end rolling constraint wire 24 is provided in the second channel 22. A third channel 12 is provided between the third constraint wire hole 73 and the eighth constraint wire hole 921, and a third palm end rolling constraint wire 14 is provided in the third channel 12. A fourth channel 13 is provided between the first constraint wire hole 83 and the seventh constraint wire hole 922, and a fourth palm end rolling constraint wire 15 is provided in the fourth channel 13.

[0084] Specifically, the second palm end rolling constraint wire 24 passes through the fourth constraint wire hole 74 and the second channel 22 and is connected to the bionic palm. At the same time, the second palm end rolling constraint wire 24 constrains the device body through the fourth constraint wire anchor 72 at the fourth constraint wire hole 74.

[0085] The first palm end rolling constraint wire 25 passes through the second constraint wire hole 84 and the first channel 23 and is connected to the bionic palm. At the same time, the first palm end rolling constraint wire 25 constrains the device body through the second constraint wire anchor 82 at the second constraint wire hole 84.

[0086] The third palm end rolling constraint wire 14 passes through the third constraint wire hole 73 and the third channel 12 and is connected to the bionic palm. At the same time, the third palm end rolling constraint wire 14 constrains the device body through the third constraint wire anchor 71 at the third constraint wire hole 73.

[0087] The fourth palm end rolling constraint wire 15 passes through the first constraint wire hole 83 and the fourth channel 13 and is connected to the bionic palm. At the same time, the fourth palm end rolling constraint wire 15 constrains the device body through the first constraint wire anchor 81 at the first constraint wire hole 83.

[0088] The first channel 23, the second channel 22, the third channel 12, and the fourth channel 13 are for each constraint wire to pass through, thereby ensuring that the device body can perform adduction and abduction movements along the first arc surface 95 at the top of the bionic palm.

[0089] In the present invention, in combination with Figure 1 and Figure 2, the first side surface 8 closer to the first rolling surface 1 is higher than the first side surface 8 closer to the first limiting surface 2, and the second side surface 7 closer to the first rolling surface 1 is higher than the second side surface 7 closer to the first limiting surface 2.

[0090] The height of the first side surface 8 closer to the first rolling surface 1 and the second side surface 7 closer to the first rolling surface 1 is the same, and the height of the first side surface 8 closer to the first limiting surface 2 and the second side surface 7 closer to the first limiting surface 2 is the same.

[0091] The surface of the first rolling surface 1 is arc-shaped, and the surface of the first limiting surface 2 is arc-shaped.

[0092] In the present invention, each wire groove, each wire hole, and each channel achieve the decoupling and non-decoupling control of each drive wire, while each constraint wire realizes the fixation and force transmission between the bionic finger and the bionic palm. Thus, the problems of the lack of the adduction and abduction degrees of freedom of the bionic finger and the lack of drive for this degree of freedom caused after introducing this degree of freedom, as well as the movement coupling of each drive wire of the bionic finger, are solved.

[0093] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A flipping device for coupling and decoupling orthogonal degrees of freedom driven by a wire, comprising a device body, characterized in that, The device body includes a first rolling surface and a first limiting surface connected to the first rolling surface. A first wire groove unit is provided on the first rolling surface, and a first constraint wire group and a first driving wire group are placed in the first wire groove unit. A second wire groove unit is provided on the first limiting surface, and a second driving wire group is placed in the second wire groove unit. A second rolling surface is provided on the opposite side of the first rolling surface, and a first arc-shaped rotating surface and a limiting boss for restricting the normal degree of freedom of the device body along the bionic palm are respectively provided on the second rolling surface; A first side surface and a second side surface are provided between the first rolling surface, the first limiting surface and the second rolling surface. A first wire hole unit is provided on the first side surface, and a second wire hole unit is provided on the second side surface. A third wire hole unit and a fourth wire hole unit communicating with the first wire hole unit and the second wire hole unit are simultaneously provided on the second rolling surface; A curved surface connecting portion recessed toward the second rolling surface side is provided between the first rolling surface and the first limiting surface; The first wire groove unit includes: A first constraint wire groove provided on the first rolling surface near the first side surface; A second constraint wire groove provided on the first rolling surface near the second side surface; A first decoupling driving wire groove provided between the first constraint wire groove and the second constraint wire groove, and one end of the first decoupling driving wire groove is located on the first rolling surface, and the other end of the first decoupling driving wire groove is located on the first arc-shaped rotating surface; A second decoupling driving wire groove provided between the first decoupling driving wire groove and the second constraint wire groove, and one end of the second decoupling driving wire groove is located on the first rolling surface, and the other end of the first decoupling driving wire groove is located on the first arc-shaped rotating surface; Wherein, the second decoupling driving wire groove is provided in the middle of the first rolling surface; The first constraint wire group includes: A first finger tip rolling constraint wire provided in the first constraint wire groove, and one end of the first finger tip rolling constraint wire is connected to the end of the first constraint wire groove, and the other end of the first finger tip rolling constraint wire is connected to the bionic finger; A second finger tip rolling constraint wire provided in the second constraint wire groove, and one end of the second finger tip rolling constraint wire is connected to the end of the second constraint wire groove, and the other end of the second finger tip rolling constraint wire is connected to the bionic finger; The first driving wire group includes: An extension driving wire provided in the first decoupling driving wire groove, and both ends of the extension driving wire penetrate out of the first decoupling driving wire groove; A first interphalangeal joint driving wire provided in the second decoupling driving wire groove, and both ends of the first interphalangeal joint driving wire penetrate out of the second decoupling driving wire groove.

2. The flipping device for orthogonal degree of freedom coupling and decoupling by wire driving according to claim 1, wherein, A first through hole communicating with the first constraint wire groove is provided on the second rolling surface. A first finger tip rolling constraint wire anchor point is provided at the first through hole, and a second through hole communicating with the second constraint wire groove is provided. A second finger tip rolling constraint wire anchor point is provided at the second through hole; A bending portion bent toward the second constraint wire groove side is provided in the first decoupling drive wire groove near the first arc surface, and the second decoupling drive wire groove is linear.

3. The flipping device for orthogonal degree-of-freedom coupling and decoupling for wire drive according to claim 1, characterized in that, The second wire groove unit includes: A first drive wire groove provided on the first limiting surface near the first side surface; A second drive wire groove provided on the first limiting surface near the second side surface; Wherein, the axial direction of the first drive wire groove and the axial direction of the first constraint wire groove are the same straight line, and the axial direction of the second drive wire groove and the axial direction of the second constraint wire groove are the same straight line.

4. The flipping device for orthogonal degree of freedom coupling and decoupling for wire drive according to claim 3, wherein The second drive wire group includes: A first metacarpophalangeal joint drive wire placed in the first drive wire groove, and one end of the first metacarpophalangeal joint drive wire is connected to the bionic finger, and the other end of the first metacarpophalangeal joint drive wire is connected to the bionic palm; A second metacarpophalangeal joint drive wire placed in the second drive wire groove, and one end of the second metacarpophalangeal joint drive wire is connected to the bionic finger, and the other end of the second metacarpophalangeal joint drive wire is connected to the bionic palm.

5. The flipping device for orthogonal degree-of-freedom coupling and decoupling for wire drive according to claim 1, wherein The first wire hole unit includes a first constraint wire hole provided on the first side surface near the first rolling surface, and a second constraint wire hole provided on the first side surface near the first limiting surface; The second wire hole unit includes a third constraint wire hole provided on the second side surface near the first rolling surface, and a fourth constraint wire hole provided on the second side surface near the first limiting surface; A first constraint wire anchor point is provided at the first constraint wire hole, a second constraint wire anchor point is provided at the second constraint wire hole, a third constraint wire anchor point is provided at the third constraint wire hole, and a fourth constraint wire anchor point is provided at the fourth constraint wire hole.

6. The flipping device for orthogonal degree-of-freedom coupling and decoupling for wire drive according to claim 5, wherein The third wire hole unit includes a fifth constraint wire hole provided on the second rolling surface near the second constraint wire hole side, and a sixth constraint wire hole provided on the second rolling surface near the fourth constraint wire hole side; The fourth wire hole unit includes a seventh constraint wire hole provided on the second rolling surface near the first constraint wire hole side, and an eighth constraint wire hole provided on the second rolling surface near the third constraint wire hole side; A first channel is provided between the second constraint line hole and the fifth constraint line hole, and a first palm-end rolling constraint line is provided in the first channel. A second channel is provided between the fourth constraint line hole and the sixth constraint line hole, and a second palm-end rolling constraint line is provided in the second channel. A third channel is provided between the third constraint line hole and the eighth constraint line hole, and a third palm-end rolling constraint line is provided in the third channel. A fourth channel is provided between the first constraint line hole and the seventh constraint line hole, and a fourth palm-end rolling constraint line is provided in the fourth channel.

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