A humanoid mechanical prosthetic hand

Abstract

The present invention provides a humanoid mechanical prosthesis, which relates to the technical field of mechanical hands. The humanoid mechanical prosthesis includes five finger structures and a palm structure. A prosthesis control panel is arranged in the palm structure. The side of the fingertips of the finger structure facing the palm is made of a transparent material. A proximity sensor is arranged in the fingertips. The proximity sensor collects distance information between the fingertip surface and the target object. The proximity sensor is electrically connected to the prosthesis control panel. The prosthesis control panel is used to control the rotation of the finger structure relative to the palm structure so that the distance information collected by the five proximity sensors is equal. The present invention arranges proximity sensors in the fingertips of the finger structures to detect the distance between the fingertips of the fingertips and the fingertips of the target object. The prosthesis control panel can adjust the positions of the five fingers according to the distance information detected by the proximity sensors, so as to ensure that the five fingers grasp the target object at the same time, grasp firmly, prevent the target object from falling off, and improve the synchronization of the fingers of the humanoid mechanical hand.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical hands, and in particular to a humanoid mechanical artificial hand. Background Art

[0002] Robots are widely used in industry, life, and medicine. For example, in industry, it is necessary to grasp workpieces and objects in high-risk and harsh environments. In life, robots are also needed to grasp objects at a long distance. In the medical industry, some disabled people need robots to assist in grasping the required objects. However, the finger synchronization of existing robots is poor. When grasping objects, the fingers cannot contact the target object at the same time, causing the target object to fall. Summary of the invention

[0003] The problem to be solved by the present invention is how to improve the synchronization of fingers of a manipulator.

[0004] To this end, the present invention provides a humanoid mechanical prosthetic hand, comprising five finger structures and a palm structure, wherein a prosthetic hand control panel is arranged in the palm structure, and the side of the fingertips of any of the finger structures facing the palm is made of a transparent material, and a proximity sensor is arranged in the fingertips, wherein the proximity sensor is an infrared proximity sensor, and the proximity sensor is used to collect distance information between the fingertip surface and a target object, and the proximity sensor is electrically connected to the prosthetic hand control panel, and the prosthetic hand control panel is used to control the rotation of the finger structures relative to the palm structure so that the distance information collected by the five proximity sensors is equal.

[0005] Optionally, any of the finger structures further comprises a position sensor, and the position sensor is used to detect a rotation angle of the finger structure relative to the palm structure.

[0006] Optionally, any of the finger structures further comprises a base joint circuit board, which is electrically connected to the position sensor and the prosthetic hand control board, and is used to convert the analog signal output by the position sensor into a digital signal and transmit it to the prosthetic hand control board.

[0007] Optionally, the position sensor and the base joint circuit board, the base joint circuit board and the prosthetic hand control board, and the proximity sensor and the prosthetic hand control board are all connected through a PFC flexible line.

[0008] Optionally, any of the finger structures further comprises a motor, wherein the motor is electrically connected to the prosthetic hand control panel, and the motor is used to drive the finger structure to rotate relative to the palm structure.

[0009] Optionally, the anthropomorphic mechanical prosthesis further includes a wrist structure, and the palm structure is rotatably connected to the wrist structure.

[0010] Optionally, an insulating gasket is provided at the connection between the proximity sensor and the fingertip.

[0011] Optionally, the outer surface of the palm structure and the outer surface of the finger structure except for the transparent material of the fingertip are both made of aluminum-magnesium alloy material.

[0012] Optionally, the transparent material is a transparent plastic material, and the friction coefficient between the transparent plastic material and steel is 0.6.

[0013] Optionally, the motor is a self-locking motor.

[0014] Compared with the prior art, the beneficial effects of the humanoid mechanical prosthetic hand of the present invention are:

[0015] The present invention arranges a proximity sensor in the fingertip of the finger structure, the proximity sensor is an infrared proximity sensor, and the surface of the fingertip facing the palm center is made of transparent material. The light emitted by the infrared proximity sensor passes through the transparent material and irradiates the target object, and is reflected back to the proximity sensor by the target object. The transparent material facilitates the proximity sensor to detect the distance between the fingertip and the fingertip of the target object. The distance information detected by the proximity sensor can be transmitted to the artificial hand control board, and the artificial hand control board can control the rotation of the finger structure relative to the palm structure to adjust the position of the fingertip. The fingertips of the five fingers are all provided with proximity sensors. The artificial hand control board can adjust the positions of the five fingers respectively according to the distance information detected by the proximity sensors in the five fingers. The proximity sensors can detect the positions of the fingertips in real time until the distances between the fingertips of the five fingers and the target object are equal, so that the five fingers can grasp the target object at the same time, the grasping is firm, the target object is prevented from falling off, and the synchronization of the fingers of the humanoid manipulator is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of the humanoid mechanical prosthetic hand according to an embodiment of the present invention.

[0017] Description of reference numerals:

[0018] 1-finger structure; 11-fingertip; 12-proximity sensor; 13-position sensor; 14-base joint circuit board; 15-PFC flexible line; 2-palm structure; 21-prosthetic hand control board. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] It should be noted that in the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0022] Moreover, although the present invention is described with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the features described in the various dependent claims and herein may be combined in a manner not described in the original claims. It should also be understood that the features described in conjunction with the individual embodiments may be used in other described embodiments.

[0023] To solve the above problems, Figure 1 As shown, the present invention provides a humanoid mechanical prosthetic hand, comprising five finger structures 1 and a palm structure 2, wherein a prosthetic hand control panel 21 is arranged in the palm structure 2, and the side of the fingertip 11 of any of the finger structures 1 facing the palm is made of a transparent material, and a proximity sensor 12 is arranged in the fingertip 11, wherein the proximity sensor 12 is an infrared proximity sensor, and the proximity sensor 12 is used to collect distance information between the surface of the fingertip 11 and a target object, and the proximity sensor 12 is electrically connected to the prosthetic hand control panel 21, and the prosthetic hand control panel 21 is used to control the rotation of the finger structure 1 relative to the palm structure 2, so that the distance information collected by the five proximity sensors 12 is equal.

[0024] In this embodiment, a proximity sensor 12 is arranged in the fingertip 11 of the finger structure 1. The proximity sensor 12 is an infrared proximity sensor, and the surface of the fingertip 11 facing the palm is made of a transparent material. The light emitted by the infrared proximity sensor passes through the transparent material and irradiates the target object, and is reflected back to the proximity sensor 12 by the target object. The transparent material facilitates the proximity sensor 12 to detect the distance between the fingertip 11 of the finger and the fingertip 11 of the target object. The distance information detected by the proximity sensor 12 can be transmitted to the artificial hand control board 21, and the artificial hand control board 21 can be used to control the distance between the fingertip 11 and the target object. The board 21 can control the rotation of the finger structure 1 relative to the palm structure 2, and adjust the position of the fingertips 11. The fingertips 11 of the five fingers are all provided with proximity sensors 12. The artificial hand control board 21 can adjust the positions of the five fingers respectively according to the distance information detected by the proximity sensors 12 in the five fingers. The proximity sensors 12 can detect the positions of the fingertips 11 in real time until the distances between the fingertips 11 of the five fingers and the target object are equal, which can ensure that the five fingers grasp the target object at the same time, grasp it firmly, prevent the target object from falling off, and improve the synchronization of the fingers of the humanoid robot.

[0025] Specifically, the distance information detected by the five-finger proximity sensors 12 is transmitted to the prosthetic hand control board 21 via digital signals. The prosthetic hand control board 21 processes the signals to obtain the distance between the corresponding fingertips 11 and the surface of the target object. The fingertips 11 closest to the prosthetic hand are used as the movement reference to accelerate the rotation of the fingertips 11 farther away until the distance is consistent with the fingertips 11 closer to the prosthetic hand. The proximity sensors 12 can be connected to the fingertips 11 via screws. Compared with traditional distance sensors, the proximity sensors 12 are small in size, low in energy consumption, and have high close-range measurement accuracy, and can be installed in the narrow space of the fingertips 11.

[0026] Alternatively, if Figure 1 As shown, any of the finger structures 1 further includes a position sensor 13 , and the position sensor 13 is used to detect the rotation angle of the finger structure 1 relative to the palm structure 2 .

[0027] In this embodiment, by setting a position sensor 13 in the finger structure 1, the position sensor 13 can detect the rotation angle of the finger structure 1 relative to the palm structure 2, and compare the rotation angle of the finger structure 1 relative to the palm structure 2 with the change in the distance between the fingertip 11 of the finger structure 1 and the target object. For example, the larger the rotation angle, the larger the moving distance of the fingertip 11, which is convenient for detecting the movement of the five fingers. When the distances detected by the proximity sensors 12 of the five fingers are the same, the relationship between the moving distance of the fingertip 11 and the rotation angle of the finger structure 1 is detected, and the moving distance of the fingertip 11 can be verified, so that the five fingers can be rotated to the position where the distance between the fingertip 11 and the target object is the same, thereby improving the synchronization rate of the fingers.

[0028] Alternatively, if Figure 1 As shown, any of the finger structures 1 also includes a base joint circuit board 14, which is electrically connected to the position sensor 13 and the prosthetic hand control board 21. The base joint circuit board 14 is used to convert the analog signal output by the position sensor 13 into a digital signal and transmit it to the prosthetic hand control board 21.

[0029] In this embodiment, a base joint circuit board 14 is set in the finger structure 1, and the base joint circuit board 14 is electrically connected to the artificial hand control board 21 and the position sensor 13. The position sensor 13 detects the rotation angle of the finger structure 1 based on the Hall effect. The analog signal output by the position sensor 13 is first converted into a digital signal by the base joint circuit board 14 and then output to the artificial hand control board 21. The actual position of the fingertip 11 can be calculated, and the target position of the fingertip 11 calculated using the distance information collected by the proximity sensor 12 is compared and adjusted with the actual position of the fingertip 11 calculated using the information of the position sensor 13, thereby realizing feedback control of the finger movement, which can effectively improve the accuracy of the distance consistency between the fingertips 11 of each finger and the target object.

[0030] Alternatively, if Figure 1 As shown, the position sensor 13 and the base joint circuit board 14 , the base joint circuit board 14 and the artificial hand control board 21 , and the proximity sensor 12 and the artificial hand control board 21 are all connected via a PFC flexible line 15 .

[0031] In this embodiment, a PFC flexible line 15 is provided to connect the position sensor 13 and the base joint circuit board 14, the base joint circuit board 14 and the prosthetic hand control board 21, and the proximity sensor 12 and the prosthetic hand control board 21. FPC is the abbreviation of Flexible Printed Circuit. The FPC flexible circuit board has high wiring density, light weight, and thin thickness. It can be installed in the gap between the finger structure 1 and the palm structure 2 and is not easily damaged.

[0032] Optionally, any of the finger structures 1 further includes a motor, which is electrically connected to the artificial hand control board 21 , and is used to drive the finger structure 1 to rotate relative to the palm structure 2 .

[0033] In this embodiment, a motor is provided, which is electrically connected to the artificial hand control board 21. The artificial hand control board 21 can control the rotation of the motor. The motor is drivingly connected to the finger structure 1. The rotation of the motor can drive the finger structure 1 to rotate relative to the palm structure 2, thereby facilitating the movement of the finger structure 1 to the target position.

[0034] Optionally, the anthropomorphic mechanical prosthesis further includes a wrist structure, and the palm structure 2 is rotatably connected to the wrist structure.

[0035] In this embodiment, by providing a wrist structure, the palm structure 2 is rotatably connected to the wrist structure, so that the relative posture relationship between the humanoid mechanical prosthesis and the target object can be adjusted, and target objects of different shapes and positions can be better grasped.

[0036] Optionally, an insulating gasket is provided at the connection between the proximity sensor 12 and the fingertip 11 .

[0037] In this embodiment, an insulating gasket is provided at the connection between the proximity sensor 12 and the fingertip 11 , so that the insulating gasket can prevent the proximity sensor 12 from contacting the finger housing and causing a short circuit.

[0038] Optionally, the outer surface of the palm structure 2 and the outer surface of the finger structure 1 except for the transparent material of the fingertip 11 are both made of aluminum-magnesium alloy material.

[0039] In this embodiment, the palm structure 2 and the finger structure 1 are made of aluminum-magnesium alloy except for the transparent outer shell of the fingertips 11. The aluminum-magnesium alloy has a low density while meeting the rigidity requirements, thereby reducing the weight of the robotic prosthesis, alleviating the pressure on the motor and facilitating the movement of the anthropomorphic robotic prosthesis.

[0040] Optionally, the transparent material is a transparent plastic material, and the friction coefficient between the transparent plastic material and steel is 0.6.

[0041] In this embodiment, by making the transparent part of the fingertip 11 of plastic material, the dynamic friction coefficient between the transparent plastic material and the steel object can reach 0.6, thereby increasing the friction force, making it easier to grasp the target object and preventing the target object from falling off.

[0042] Optionally, the motor is a self-locking motor.

[0043] In this embodiment, by setting the motor as a self-locking motor, when the fingertip 11 completely contacts the target object, the signal of the proximity sensor 12 no longer changes. At this time, the motor will self-lock to prevent the target object from falling off due to the rotation of the finger, thereby improving the firmness of grasping the target object.

[0044] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A humanoid mechanical prosthetic hand, characterized in that: The invention comprises five finger structures (1) and a palm structure (2), wherein a prosthetic hand control panel (21) is arranged in the palm structure (2), and the side of the fingertip (11) of any of the finger structures (1) facing the palm is made of a transparent material, and a proximity sensor (12) is arranged in the fingertip (11), and the proximity sensor (12) is an infrared proximity sensor, and the proximity sensor (12) is used to collect distance information between the surface of the fingertip (11) and a target object, and the proximity sensor (12) is electrically connected to the prosthetic hand control panel (21), and the prosthetic hand control panel (21) is used to obtain the target position of the fingertip (11) according to the distance information, and control the finger structure (1) to rotate relative to the palm structure (2) so that the distance information collected by the five proximity sensors (12) is equal, and any of the finger structures (1) also comprises a position sensor (13 ), the position sensor (13) is used to detect the rotation angle of the finger structure (1) relative to the palm structure (2), any of the finger structures (1) further comprises a base joint circuit board (14), the base joint circuit board (14) is electrically connected to the position sensor (13) and the artificial hand control board (21), the base joint circuit board (14) is used to convert the analog signal output by the position sensor (13) into a digital signal, and transmit it to the artificial hand control board (21), the artificial hand control board (21) is also used to obtain the actual position of the fingertip (11) according to the received signal of the rotation angle, and to compare the actual position of the fingertip (11) with the target position of the fingertip (11), and to control the movement of the corresponding finger structure (1) according to the comparison result, until the actual position of the fingertip (11) is consistent with the target position of the fingertip (11).

2. The humanoid mechanical prosthesis according to claim 1, characterized in that: The position sensor (13) and the base joint circuit board (14), the base joint circuit board (14) and the artificial hand control board (21), and the proximity sensor (12) and the artificial hand control board (21) are all connected via a PFC flexible line (15).

3. The humanoid mechanical prosthesis according to claim 1, characterized in that: Any of the finger structures (1) further comprises a motor, which is electrically connected to the artificial hand control panel (21), and is used to drive the finger structure (1) to rotate relative to the palm structure (2).

4. The humanoid mechanical prosthesis according to claim 1, characterized in that: It also comprises a wrist structure, and the palm structure (2) is rotatably connected to the wrist structure.

5. The humanoid mechanical prosthesis according to claim 1, characterized in that: An insulating gasket is provided at the connection between the proximity sensor (12) and the fingertip (11).

6. The humanoid mechanical prosthesis according to claim 1, characterized in that: The outer surface of the palm structure (2) and the outer surface of the finger structure (1) except for the transparent material of the fingertip (11) are both made of aluminum-magnesium alloy material.

7. The humanoid mechanical prosthesis according to claim 1, characterized in that: The transparent material is a transparent plastic material, and the friction coefficient between the transparent plastic material and steel is 0.

6.

8. The humanoid mechanical prosthetic hand according to claim 3, characterized in that: The motor is a self-locking motor.

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