Multi-limbed hand robot system

Abstract

A multi-limb hand robot system relates to the technical field of rehabilitation medical instruments.The present application solves the problem that the existing technology is easy to cause damage when assisting in strong gripping by hand exoskeleton, and the problem that the external limb fingers cannot rehabilitate the natural fingers.The present application comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a thumb transmission assembly, an index finger transmission assembly, a middle finger transmission assembly, a ring finger transmission assembly, a little finger transmission assembly, an external limb transmission assembly, a base assembly and a distal motor driving assembly.The distal motor driving assembly drives the thumb transmission assembly, the index finger transmission assembly, the middle finger transmission assembly, the ring finger transmission assembly and the little finger transmission assembly through Bowden wire to realize the extension and flexion of the thumb, the index finger, the middle finger, the ring finger and the little finger.The distal motor driving assembly drives the external limb transmission assembly through Bowden wire to realize rotation and flexion.The present application is used for hand rehabilitation training.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, specifically to a multi-limb hand robot system. Background Technology

[0002] With the deepening of population aging, the incidence and prevalence of stroke in my country are on the rise. 80% of stroke patients experience varying degrees of limb dysfunction, and over 60% continue to suffer from severe upper limb, especially hand, motor dysfunction even after entering the chronic phase. Reconstruction of hand motor function is crucial for patients to regain their ability to live independently. Traditional rehabilitation therapies require long-term training by clinicians, but the shortage of clinicians and high rehabilitation costs cause many patients to miss the golden period for efficient brain remodeling. Furthermore, clinicians cannot assist unrehabilitated patients in performing daily grasping tasks in unstructured environments outside of hospitals. In recent years, hand robots have been introduced into the field of medical device technology to assist patients in rehabilitation training and in performing daily grasping tasks.

[0003] Hand exoskeletons and exolimb fingers are two main types of hand medical devices. Hand exoskeletons are currently the most common rehabilitation equipment for hand motor function after stroke, providing rehabilitation treatments such as soft tissue traction and joint range of motion training. However, their use can have negative effects such as compressive forces on soft tissues and joints, affecting both wearing comfort and user safety, especially when assisting stroke patients in the spastic phase with greater muscle tone to forcefully grasp objects, inevitably causing pain and even soft tissue damage to joints. Exolimb fingers are a new type of hand motor function enhancement device for stroke patients, enhancing the patient's grasping ability by adding wearable mechanical fingers. Exolimb fingers can reduce the natural finger strength required to complete daily grasping tasks, but they cannot provide rehabilitation training for natural fingers or reconstruct lost hand motor function.

[0004] Therefore, there is an urgent need for a new type of multi-limb hand robot system that organically integrates the hand exoskeleton and the fingers of the exolimb, and at the same time realizes the rehabilitation, reconstruction and enhancement of hand motor function. Summary of the Invention

[0005] In order to solve the problems of the large force exerted on the fingers and easy damage caused by the use of hand exoskeletons for strong grasping in the prior art, as well as the inability of exoskeletons to rehabilitate natural fingers or rebuild lost hand motor functions, this invention proposes a multi-limb hand robot system.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A multi-limb hand robot system includes a thumb, index finger, middle finger, ring finger, little finger, a thumb drive assembly, an index finger drive assembly, a middle finger drive assembly, a ring finger drive assembly, a little finger drive assembly, an external limb drive assembly, a base assembly, and a remote motor drive assembly. The base assembly is fixed to the back of the hand by a hand strap. The fixed ends of the thumb drive assembly, index finger drive assembly, middle finger drive assembly, ring finger drive assembly, little finger drive assembly, and external limb drive assembly are all located on the base assembly. The thumb and the thumb drive assembly drive... The index finger is connected to the actuator of the index finger transmission component, the middle finger to the actuator of the middle finger transmission component, the ring finger to the actuator of the ring finger transmission component, and the little finger to the actuator of the little finger transmission component. The remote motor drive component drives the thumb transmission component, index finger transmission component, middle finger transmission component, ring finger transmission component, and little finger transmission component through Bowden lines to realize the extension, retraction, flexion, and extension of the thumb, index finger, middle finger, ring finger, and little finger. The remote motor drive component drives the external limb transmission component through Bowden lines to realize rotation and flexion.

[0008] Furthermore, the base assembly includes a base and a base assembly hub. The base assembly hub is fixed to the rear side of the upper end of the base. The thumb transmission assembly is disposed on one side of the base. The index finger transmission assembly, middle finger transmission assembly, ring finger transmission assembly and little finger transmission assembly are disposed on the front side of the upper end of the base. The external limb transmission assembly is disposed on the other side of the base.

[0009] Furthermore, the external limb transmission assembly includes external limb fingers, external limb rotating base, external limb rotating drive wire transition pulley, and external limb coupling wire. The external limb rotating base is located on the other side of the base, and the external limb rotating drive wire transition pulley is located on the other side of the upper end of the base. The external limb fingers are connected to the external limb rotating base, and the external limb coupling wire is connected to the external limb fingers.

[0010] Furthermore, the external limb finger includes a first external limb finger, a second external limb finger, a third external limb finger, and an external limb connecting male seat. The first external limb finger, the second external limb finger, and the third external limb finger are connected sequentially from front to back. The first external limb finger and the second external limb finger are rotatably connected, as are the second external limb finger and the third external limb finger. The external limb connecting male seat is inserted into the front end of the external limb rotating female seat.

[0011] Furthermore, the first segment of the extremity includes the phalanx of the first segment of the extremity, the pulley of the first segment of the extremity, and the return torsion spring of the first segment of the extremity; the second segment of the extremity includes the phalanx of the second segment of the extremity, the pulley of the second segment of the extremity, and the return torsion spring of the second segment of the extremity; the third segment of the extremity includes the phalanx of the third segment of the extremity, the pulley of the third segment of the extremity, and the return torsion spring of the third segment of the extremity; and the male connector of the extremity includes a frame of the male connector of the extremity and a pulley gear of the male connector of the extremity.

[0012] The posterior end of the first phalanx of the extremity is hinged to the anterior end of the second phalanx of the extremity via a first pin. A reset torsion spring for the first phalanx is mounted on the first pin, with one end of the spring engaged with the inner side of the first phalanx and the other end engaged with the inner side of the second phalanx. A pulley for the first phalanx is also mounted on the first pin. Similarly, the posterior end of the second phalanx is hinged to the anterior end of the third phalanx of the extremity via a second pin. A reset torsion spring for the second phalanx is mounted on the second pin, with one end engaged with the inner side of the second phalanx. The other end of the finger reduction torsion spring is fitted into the inner side of the phalanx of the third phalanx of the external limb, and the pulley of the second phalanx of the external limb is mounted on the second pin. The rear end of the phalanx of the third phalanx of the external limb is hinged to the front end of the external limb connecting male frame through the third pin. The finger reduction torsion spring of the third phalanx of the external limb is mounted on the third pin. One end of the finger reduction torsion spring of the third phalanx of the external limb is fitted into the inner side of the phalanx of the third phalanx of the external limb, and the other end of the finger reduction torsion spring of the third phalanx of the external limb is fitted into the inner side of the external limb connecting male frame. The pulley of the third phalanx of the external limb is mounted on the third pin. A fourth pin is inserted into the side wall of the rear end of the external limb connecting male frame, and the pulley gear of the external limb connecting male frame is mounted on the fourth pin.

[0013] The front end of the external limb coupling wire is fixed to the front end of the phalanx of the first phalanx of the external limb. The rear end of the external limb coupling wire passes sequentially around the pulley of the first phalanx of the external limb, the pulley of the second phalanx of the external limb, the pulley of the third phalanx of the external limb, and the pulley of the external limb connecting male seat pulley gear before being fixed to the pulley of the external limb connecting male seat pulley gear.

[0014] Furthermore, the external limb rotating female seat includes an external limb rotating female seat frame, an external limb rotating female seat pulley gear, an external limb rotating female seat fixing pin, an external limb rotating female seat buckling return torsion spring, and an external limb rotating female seat rotation return torsion spring. The rear end of the external limb connecting male seat frame is inserted into the front end of the external limb rotating female seat frame. A fifth pin is inserted into the side wall of the front end of the external limb rotating female seat frame. The external limb rotating female seat pulley gear is fitted onto the end of the fifth pin. The external limb rotating female seat buckling return torsion spring is fitted onto the fifth pin and engaged with the external limb rotating female seat pulley gear. Between the inner end of the gear and the side wall of the outer limb rotating female seat frame, the rear end of the outer limb rotating female seat frame is inserted into the other side of the base, and the rear end of the outer limb rotating female seat frame is rotatably connected to the base through the outer limb rotating female seat fixing pin. The outer limb rotating female seat rotation reset torsion spring is fitted on the outer limb rotating female seat fixing pin and is clamped between the outer limb rotating female seat frame and the base. The gear meshes between the outer limb rotating female seat pulley gear and the outer limb connecting male seat pulley gear. A winding ring groove is opened along the circumferential direction on the side wall of the rear end of the outer limb rotating female seat frame.

[0015] Furthermore, the rear end of the external limb connecting male seat frame is interference-fitted with the front end of the external limb rotating female seat frame.

[0016] Furthermore, the remote motor drive assembly includes a thumb CMC joint flexion-extension motion drive assembly, a thumb CMC joint abduction-adduction motion drive assembly, an index finger MCP joint flexion-extension motion drive assembly, an index finger PIP joint abduction-adduction motion drive assembly, a middle finger MCP joint flexion-extension motion drive assembly, a middle finger PIP joint abduction-adduction motion drive assembly, a ring finger MCP joint flexion-extension motion drive assembly, a ring finger PIP joint abduction-adduction motion drive assembly, a little finger MCP joint flexion-extension motion drive assembly, a little finger PIP joint abduction-adduction motion drive assembly, an external limb rotation drive assembly, an external limb flexion drive assembly, an upper motor base plate, a lower motor base plate, a Bowden cable bundle hub for the drive assembly, and a support stud assembly. The upper motor base plate and the lower motor base plate are arranged side by side in parallel. The upper and lower base plates of the motor are fixedly connected by a support stud assembly. The thumb CMC joint flexion and extension motion drive assembly, the index finger MCP joint flexion and extension motion drive assembly, the index finger PIP joint abduction and retraction motion drive assembly, the middle finger MCP joint flexion and extension motion drive assembly, the middle finger PIP joint abduction and retraction motion drive assembly, the ring finger MCP joint flexion and extension motion drive assembly, the ring finger PIP joint abduction and retraction motion drive assembly, the little finger MCP joint flexion and extension motion drive assembly, the little finger PIP joint abduction and retraction motion drive assembly, the external limb rotation drive assembly, and the external limb flexion drive assembly are alternately arranged on the upper end surface of the upper base plate of the motor. The drive assembly Bowden cable sleeve hub is fixedly connected to the front end of the upper end surface of the upper base plate of the motor.

[0017] Furthermore, the thumb CMC joint flexion-extension motion driving component drives the flexion and extension of the thumb's CMC joint and MCP joint, and the thumb CMC joint abduction-retraction motion driving component drives the abduction and retraction of the thumb's CMC joint; the index finger MCP joint flexion-extension motion driving component drives the flexion and extension of the index finger's MCP joint, and the index finger PIP joint abduction-retraction motion driving component drives the abduction and retraction of the index finger's PIP joint; the middle finger MCP joint flexion-extension motion driving component drives the flexion and extension of the middle finger's MCP joint, and the middle finger PIP joint abduction-retraction motion driving component drives the abduction and retraction of the middle finger's PIP joint; the ring finger MCP joint flexion-extension motion driving component drives the flexion and extension of the ring finger's MCP joint, and the ring finger PIP joint abduction-retraction motion driving component drives the abduction and retraction of the ring finger's PIP joint; the little finger MCP joint flexion-extension motion driving component drives the flexion and extension of the little finger's MCP joint, and the little finger PIP joint abduction-retraction motion driving component drives the abduction and retraction of the little finger's PIP joint; the limb rotation driving component drives the limb transmission component to rotate, and the limb flexion driving component drives the limb transmission component to flex.

[0018] Furthermore, the external limb rotation drive assembly includes an external limb rotation drive Bowden wire sleeve, an external limb rotation drive Bowden steel wire, an external limb rotation drive motor, and an external limb rotation drive pulley. The external limb rotation drive Bowden wire sleeve is fixed to the front end of the drive assembly Bowden wire sleeve hub. The input end of the external limb rotation drive Bowden steel wire passes through the drive assembly Bowden wire sleeve hub and is fixed to the external limb rotation drive pulley. The external limb rotation drive pulley is fixed to the output shaft of the external limb rotation drive motor. The external limb rotation drive motor is fixed to the upper end surface of the motor upper base plate. The output end of the external limb rotation drive Bowden steel wire passes through the external limb rotation drive Bowden wire sleeve and the base assembly hub and is fixed to the winding ring groove at the rear end of the external limb rotation female base frame.

[0019] The external limb flexion drive assembly includes an external limb flexion drive Bowden wire sleeve, an external limb flexion drive Bowden steel wire, an external limb flexion drive motor, and an external limb flexion drive pulley. The external limb flexion drive Bowden wire sleeve is fixed to the front end of the drive assembly Bowden wire sleeve hub. The input end of the external limb rotation drive Bowden steel wire passes through the drive assembly Bowden wire sleeve hub and is fixed to the external limb flexion drive pulley. The external limb flexion drive pulley is fixed to the output shaft of the external limb flexion drive motor. The external limb flexion drive motor is fixed to the upper end surface of the motor upper base plate. The output end of the external limb flexion drive Bowden steel wire passes through the external limb flexion drive Bowden wire sleeve and the base assembly hub and is fixed to the pulley of the external limb rotation female seat pulley gear.

[0020] The beneficial effects of this invention compared to the prior art are:

[0021] The multi-limb hand robot system of this invention can simultaneously meet the needs of both rehabilitation training and assisting in daily grasping tasks. During rehabilitation training, the exoskeleton component provides soft tissue traction and joint range of motion training, thus playing a role in hand motor function rehabilitation. When assisting in daily grasping tasks, the exoskeleton component works in conjunction with the exolimb finger component; in this case, the exoskeleton component reconstructs hand motor function, while the exolimb finger component enhances motor function.

[0022] Compared to traditional hand exoskeletons, the multi-limb hand robot system of this invention assists patients in completing the same grasping tasks in daily life. Because of the addition of exoskeleton finger components, the assistance required from the exoskeleton is reduced, thereby reducing the compressive force of the exoskeleton on the fingers, reducing pain and discomfort to the patient, and lowering the probability of secondary injury.

[0023] Compared to conventional exolimb fingers, the multi-limb hand robot system of this invention assists patients in completing the same grasping tasks in daily life. Due to the addition of the hand exoskeleton component, it can not only enhance hand motor function using the exolimb finger component, but also reconstruct lost motor function using the exoskeleton component.

[0024] The multi-limb hand robot system of the present invention has an exophoric finger component with a quick-plug interface. When the exoskeleton component provides rehabilitation treatment such as soft tissue traction and joint range of motion training, the exophoric finger component can be quickly pulled out, reducing the system weight and minimizing interference between the exophoric finger component and the hand exoskeleton component. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural schematic diagram of a specific embodiment of the multi-limb hand robot system of the present invention;

[0026] Figure 2 yes Figure 1 An exploded view of the thumb transmission component in the diagram;

[0027] Figure 3 yes Figure 1 An exploded view of the index finger transmission component;

[0028] Figure 4 This is a schematic diagram of the finger extension state driven by the present invention.

[0029] Figure 5 This is a schematic diagram of the exoskeleton of the present invention in which the four finger MCP joints are simultaneously abducted.

[0030] Figure 6 This is a schematic diagram of the index finger being extended in the state driven by the present invention;

[0031] Figure 7 This is a schematic diagram of the index finger MCP joint in a flexed state according to the present invention;

[0032] Figure 8 This is a schematic diagram of the index finger PIP and DIP joints in a flexed state, as per the present invention.

[0033] Figure 9 This is a schematic diagram of the index finger MCP joint, PIP joint and DIP joint in flexion state driven by the present invention;

[0034] Figure 10 This is a top view schematic diagram of the thumb extension state driven by the present invention;

[0035] Figure 11 This is a schematic diagram of the thumb CMC joint in abduction state driven by the present invention;

[0036] Figure 12 This is a frontal view of the thumb in the extended state driven by the present invention;

[0037] Figure 13 This is a schematic diagram of the thumb CMC and MCP joints in a flexed state driven by the present invention;

[0038] Figure 14 This is a three-dimensional structural diagram of the motor drive assembly of the multi-limb hand robot system of the present invention. Figure 1 ;

[0039] Figure 15 This is a three-dimensional structural diagram of the motor drive assembly of the present invention. Figure 2 ;

[0040] Figure 16 This is an exploded view of the motor drive assembly of the present invention;

[0041] Figure 17 This is a schematic diagram of the driving principle of the index finger PIP joint extension and retraction motion driving component 804 of the present invention.

[0042] Figure 18 This is a schematic diagram of the driving principle of the index finger MCP joint flexion and extension motion driving component 803 of the present invention;

[0043] Figure 19 This is a schematic diagram of the driving principle of the thumb CMC joint flexion and extension motion driving component 801 of the present invention.

[0044] Figure 20 This is a schematic diagram of the Bowden wire winding at the meshing point of the exoskeleton gear joint in this invention, wherein (a) is a schematic diagram when the joint is extended, and (b) is a schematic diagram when the joint is bent.

[0045] Figure 21 This is a schematic diagram of the contact surface between the present invention and the back of the hand;

[0046] Figure 22 This is a three-dimensional structural diagram of the present invention with only the base of the external limb component installed;

[0047] Figure 23 This is a three-dimensional structural schematic diagram of the external limb transmission assembly of the present invention;

[0048] Figure 24 yes Figure 1 Exploded view of the external limb transmission components;

[0049] Figure 25 This is a schematic diagram of the flexion / extension direction driving scheme of the external limb transmission component of the multi-limb hand robot system of the present invention;

[0050] Figure 26 This is a schematic diagram of the back of the external limb transmission component of this invention;

[0051] Figure 27 This is a schematic diagram of the installation of the base of the external limb transmission component of the present invention;

[0052] Figure 28 This is a schematic diagram of the finger of the external limb transmission component of the present invention;

[0053] Figure 29 This is a schematic diagram of the external limb transmission component of the present invention;

[0054] Figure 30 This is a schematic diagram of the base rotation of the external limb transmission component of the present invention;

[0055] Figure 31 This is a schematic diagram of the flexion of the external limb transmission component of the present invention;

[0056] Figure 32 This is a schematic diagram of the simultaneous rotation and flexion of the external limb transmission component of the present invention;

[0057] Figure 33 This is a schematic diagram of the external limb transmission component of the present invention gripping an object individually;

[0058] Figure 34 This is a schematic diagram of the exolimb transmission component of the present invention and the exoskeleton-driven thumb gripping an object.

[0059] Figure 35 This is a schematic diagram of the second state of the exolimb transmission component and the exoskeleton-driven thumb cooperating to grasp an object according to the present invention;

[0060] Figure 36 This is a schematic diagram of the exolimb transmission component and the exoskeleton driving the five fingers to grasp an object in the state of the present invention;

[0061] Figure 37This is a schematic diagram of the exoskeleton driving the five fingers to grasp an object without the external limb transmission component of the present invention. Detailed Implementation

[0062] To make the technical problems solved, the technical solutions, and the beneficial effects of the present invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0063] Specific implementation method one: Combining Figures 1 to 37 This embodiment describes a multi-limb hand robot system comprising a thumb 10, an index finger 20, a middle finger 30, a ring finger 40, a little finger 50, a thumb transmission component 100, an index finger transmission component 200, a middle finger transmission component 300, a ring finger transmission component 400, a little finger transmission component 500, an external limb transmission component 600, a base assembly 700, and a remote motor drive component 80. The base assembly 700 is fixed to the back of the hand by a hand strap 703. The fixed ends of the thumb transmission component 100, the index finger transmission component 200, the middle finger transmission component 300, the ring finger transmission component 400, the little finger transmission component 500, and the external limb transmission component 600 are all disposed on the base assembly 700. The thumb 10 is connected to the actuator of the thumb transmission component 100, the index finger 20 is connected to the actuator of the index finger transmission component 200, the middle finger 30 is connected to the actuator of the middle finger transmission component 300, the ring finger 40 is connected to the actuator of the ring finger transmission component 400, and the little finger 50 is connected to the actuator of the little finger transmission component 500. The distal motor drive component 80 drives the thumb transmission component 100, the index finger transmission component 200, the middle finger transmission component 300, the ring finger transmission component 400, and the little finger transmission component 500 through Bowden lines to realize the extension, retraction, flexion, and extension of the thumb 10, index finger 20, middle finger 30, ring finger 40, and little finger 50. The distal motor drive component 80 drives the external limb transmission component 600 through Bowden lines to realize rotation and flexion.

[0064] Specific Implementation Method Two: Combining Figures 1 to 37 This embodiment describes a base assembly 700 comprising a base 701 and a base assembly hub 702. The base assembly hub 702 is fixedly connected to the rear side of the upper end of the base 701. A thumb transmission assembly 100 is disposed on one side of the base 701, while index finger transmission 200, middle finger transmission 300, ring finger transmission 400, and little finger transmission 500 are disposed on the front side of the upper end of the base 701. An external limb transmission assembly 600 is disposed on the other side of the base 701. Undisclosed technical features in this embodiment are the same as in specific embodiment one.

[0065] The four fingers of a natural hand are divided into the proximal interphalangeal joint (PIP joint), metacarpophalangeal joint (MCP joint), distal interphalangeal joint (DIP joint), proximal interphalangeal joint (PIP joint), metacarpophalangeal joint (MCP joint), and carpometacarpal joint (CMC joint).

[0066] The thumb transmission assembly 100 described in this embodiment includes a thumb MCP joint transmission assembly 110, a thumb CMC joint transmission assembly 120, and a thumb abduction and retraction movement assembly 130.

[0067] The thumb MCP joint transmission assembly 110 includes a thumb MCP joint mounting base 111, a thumb MCP joint first drive rod 112, and a thumb MCP joint second drive rod 113. The thumb MCP joint mounting base 111 is fixed to the proximal phalanx of the thumb 10. The lower end of the thumb MCP joint first drive rod 112 is hinged to the thumb MCP joint mounting base 111, and the upper end of the thumb MCP joint first drive rod 112 is hinged to the upper end of the thumb MCP joint second drive rod 113. A gear is fixed to the outer side of the lower end of the thumb MCP joint second drive rod 113.

[0068] The thumb CMC joint transmission assembly 120 includes a thumb CMC joint mounting base 121, a first transmission rod 122 of the thumb CMC joint, a second transmission rod 123 of the thumb CMC joint, a transmission coupling link 124 of the thumb CMC joint, and a return torsion spring 125 of the thumb CMC joint. The thumb CMC joint mounting base 121 is fixedly connected to the metacarpal bone of the thumb 10. The lower end of the first transmission rod 122 of the thumb CMC joint is hinged to the thumb CMC joint mounting base 121. A gear is fixedly connected to the outer side of the lower end of the first transmission rod 122 of the thumb CMC joint. The outer side of the lower end of the second drive rod 113 of the thumb CMC joint is connected to the thumb CMC joint. The outer gear at the lower end of the first transmission rod 122 of the thumb CMC joint meshes with the middle part of the first transmission rod 122 of the thumb CMC joint and the upper end of the second transmission rod 123 of the thumb CMC joint. The upper end of the first transmission rod 122 of the thumb CMC joint is hinged to the upper end of the transmission coupling link 124 of the thumb CMC joint. The lower end of the second transmission rod 123 of the thumb CMC joint is provided with a mounting hole, and the shaft of the second transmission rod of the thumb CMC joint is inserted into the mounting hole. The reset torsion spring 125 of the thumb CMC joint is mounted on the shaft of the second transmission rod of the thumb CMC joint. The rear side of the lower end of the second transmission rod 123 of the thumb CMC joint is provided with an arc-shaped winding groove.

[0069] The thumb extension / retraction motion assembly 130 includes a thumb fixing guide rail 131, a thumb base tray 132, a thumb rotating guide rail 133, a thumb sliding base 134, a first pulley 135 of the thumb guide rail, a second pulley 136 of the thumb guide rail, and a thumb extension / retraction reset spring 137. The thumb fixing guide rail 131 is fixedly connected to one side of the base 701. The thumb base tray 132 is embedded in the upper end surface of the thumb fixing guide rail 131 and is slidably connected along the length of the thumb fixing guide rail 131. A thumb circular groove is formed in the middle of the thumb base tray 132. A thumb disc seat is provided at the lower end of the thumb rotating guide rail 133. The thumb disc seat is inserted into the thumb circular groove and is rotatably connected with the thumb circular groove. The thumb sliding base 134 is fitted onto the upper end of the thumb rotating guide rail 133 and is slidably connected along the length of the thumb rotating guide rail 133. The lower end of the base 134 is hinged to the shaft of the second transmission rod of the thumb CMC joint. One end of the thumb CMC joint reset torsion spring 125 is fitted into the fan-shaped groove at the lower end of the second transmission rod 123 of the thumb CMC joint, and the other end of the thumb CMC joint reset torsion spring 125 is fitted onto the thumb sliding base 134. The upper end of the thumb sliding base 134 is hinged to the lower end of the thumb CMC joint transmission coupling link 124. One end of the thumb extension and retraction reset tension spring 137 is fixed to the base 601, and the other end of the thumb extension and retraction reset tension spring 137 is connected to the remote motor drive assembly 70. The thumb guide rail first pulley 135 is located at the left end of the thumb fixed guide rail 131 and is rotatably connected to the thumb fixed guide rail 131. The thumb guide rail second pulley 136 is located at the right end of the thumb fixed guide rail 131 and is rotatably connected to the thumb fixed guide rail 131.

[0070] In this embodiment, the outer gear at the lower end of the second drive rod 113 of the thumb MCP joint meshes with the outer gear at the lower end of the first transmission rod 122 of the thumb CMC joint. The ratio of the pitch circle diameter of the outer gear at the lower end of the second drive rod 113 of the thumb MCP joint to the outer gear at the lower end of the first transmission rod 122 of the thumb CMC joint is 2:3.

[0071] The index finger transmission assembly 200 described in this embodiment includes an index finger DIP joint transmission assembly 210, an index finger PIP joint transmission assembly 220, an index finger MCP joint transmission assembly 230, and an index finger abduction and retraction movement assembly 240.

[0072] The index finger DIP joint transmission assembly 210 includes an index finger DIP joint mounting base 211, an index finger DIP joint second transmission rod 212, and an index finger DIP joint first transmission rod 213. The index finger DIP joint mounting base 211 is fixedly connected to the distal phalanx of the index finger 20. The lower end of the index finger DIP joint first transmission rod 213 is hinged to the index finger DIP joint mounting base 211, and the upper end of the index finger DIP joint first transmission rod 213 is hinged to the upper end of the index finger DIP joint second transmission rod 212. A gear is fixedly connected to the outer side of the lower end of the index finger DIP joint second transmission rod 212.

[0073] The index finger PIP joint transmission assembly 220 includes an index finger PIP joint mounting base 221, an index finger PIP joint first transmission rod 222, an index finger PIP joint second transmission rod 223, and an index finger PIP joint return torsion spring 224. The index finger PIP joint mounting base 221 is fixedly connected to the middle phalanx of the index finger 20. The lower end of the index finger PIP joint first transmission rod 222 is hinged to the index finger PIP joint mounting base 221. A gear is fixedly connected to the outer side of the lower end of the index finger PIP joint first transmission rod 222. The outer gear at the end meshes with the outer gear at the lower end of the second transmission rod 212 of the index finger DIP joint. The upper end of the first transmission rod 222 of the index finger PIP joint is hinged to the upper end of the second transmission rod 223 of the index finger PIP joint. The lower end of the second transmission rod 223 of the index finger PIP joint is provided with a mounting hole. The rotating shaft of the second transmission rod of the index finger PIP joint is inserted into the mounting hole. The return torsion spring 224 of the index finger PIP joint is mounted on the rotating shaft of the second transmission rod of the index finger PIP joint. The rear side of the lower end of the second transmission rod 223 of the index finger PIP joint is provided with an arc-shaped winding groove.

[0074] The index finger MCP joint transmission assembly 230 includes an index finger MCP joint mounting base 231, an index finger MCP joint first transmission rod 232, an index finger MCP joint second transmission rod 233, an index finger MCP joint third transmission rod 234, an index finger MCP joint coupling first link 235, an index finger MCP joint coupling second link 236, an index finger MCP joint gear carrier 237, an index finger MCP joint return torsion spring 238, and a fifth wire transition bearing 239. The index finger MCP joint mounting base 231 is fixed to the proximal phalanx of the index finger 20. The pivot of the index finger PIP joint second transmission rod is hinged to the outer end of the index finger MCP joint mounting base 231. The index finger PIP joint return torsion spring 22... One end of the spring 4 is fitted into the fan-shaped groove at the lower end of the second transmission rod 223 of the index finger PIP joint. The other end of the index finger PIP joint return torsion spring 224 is fitted into the index finger MCP joint mounting base 231. The inner end of the index finger MCP joint mounting base 231 is hinged to the lower end of the index finger MCP joint gear carrier 237. The upper end of the index finger MCP joint gear carrier 237 is hinged to the lower ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint, respectively. Gears are fixedly connected to both sides of the inner end of the index finger MCP joint mounting base 231. Gears are fixedly connected to the outer sides of the lower ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint. The first transmission rod 232 of the index finger MCP joint... The outer gear at the lower end of the second transmission rod 233 of the index finger MCP joint meshes with the gear at the inner end of the mounting base 231 of the index finger MCP joint. The front end of the second coupling link 236 of the index finger MCP joint is hinged to the upper ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint. The middle part of the second coupling link 236 of the index finger MCP joint is hinged to the upper end of the third transmission rod 234 of the index finger MCP joint. Gears are fixedly connected to the outer sides of the upper ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint. A gear is fixedly connected to the outer side of the upper end of the third transmission rod 234 of the index finger MCP joint. The outer gear at the upper end of the third transmission rod 234 of the index finger MCP joint meshes with the gear at the inner end of the mounting base 231 of the index finger MCP joint. The outer gears at the upper ends of the first transmission rod 232 of the MCP joint and the second transmission rod 233 of the index finger MCP joint mesh with each other. The lower end of the third transmission rod 234 of the index finger MCP joint is provided with a mounting hole, in which the shaft of the third transmission rod of the index finger MCP joint is inserted. The reset torsion spring 238 of the index finger MCP joint is mounted on the shaft of the third transmission rod of the index finger MCP joint. The fifth steel wire transition bearing 239 is set in the fan-shaped groove at the lower end of the third transmission rod 234 of the index finger MCP joint and is mounted on the shaft of the third transmission rod of the index finger MCP joint. The rear side of the lower end of the third transmission rod 234 of the index finger MCP joint is provided with an arc-shaped winding groove. The upper end of the first coupling link 235 of the index finger MCP joint is hinged to the rear end of the second coupling link 236 of the index finger MCP joint.

[0075] The index finger extension / retraction motion assembly 240 includes a four-finger fixed guide rail 241, an index finger rotating guide rail 242, an index finger sliding base 243, a first fixed guide rail screw 244, and a second fixed guide rail screw 245. The four-finger fixed guide rail 241 is fixed to the front side of the upper end of the base 701 by the first fixed guide rail screw 244 and the second fixed guide rail screw 245. The lower end of the index finger rotating guide rail 242 is provided with an index finger disc seat. The index finger disc seat is embedded in the upper end surface of the four-finger fixed guide rail 241 and is slidably connected along the length direction of the four-finger fixed guide rail 241. The index finger disc seat can be mounted on the four-finger fixed guide rail. The index finger slide base 243 rotates within the index finger and is mounted on the upper end of the index finger rotation guide 242 and is slidably connected along the length of the index finger rotation guide 242. The lower end of the index finger slide base 243 is hinged to the shaft of the third transmission rod of the index finger MCP joint. One end of the index finger MCP joint reset torsion spring 238 is fitted into the fan-shaped groove at the lower end of the third transmission rod 234 of the index finger MCP joint, and the other end of the index finger MCP joint reset torsion spring 238 is fitted onto the index finger slide base 243. The upper end of the index finger slide base 243 is hinged to the lower end of the first connecting rod 235 of the index finger MCP joint coupling.

[0076] In this embodiment, the outer gear at the lower end of the first transmission rod 222 of the index finger PIP joint meshes with the outer gear at the lower end of the second transmission rod 212 of the index finger DIP joint. The ratio of the pitch circle diameter of the outer gear at the lower end of the second transmission rod 212 of the index finger DIP joint to the outer gear at the lower end of the first transmission rod 222 of the index finger PIP joint is 2:3.

[0077] The outer gear at the upper end of the third transmission rod 234 of the index finger MCP joint meshes with the outer gears at the upper ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint, respectively. The ratio of the pitch circle diameter of the outer gear at the upper end of the third transmission rod 234 of the index finger MCP joint to the outer gears at the upper ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint is 1:1:1, and the diameter of the gear is equal to the hole distance between the front end and the middle hinge hole of the second connecting rod 236 of the index finger MCP joint coupling.

[0078] The outer gears at the lower ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint mesh with the gears at the inner ends of the mounting base 231 of the index finger MCP joint. The ratio of the pitch circle diameters of the outer gears at the lower ends of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint to the gears at the inner ends of the mounting base 231 of the index finger MCP joint is 1:1:1, and the diameter of the gears is equal to the distance between the hinge holes at the upper and lower ends of the MCP joint gear holder 237.

[0079] The index finger MCP joint coupling second link 236 described in this embodiment includes an index finger second coupling link first side link 2361, an index finger second coupling link second side link 2362, a first steel wire transition bearing 2363, and a second steel wire transition bearing 2364. The index finger second coupling link first side link 2361 and index finger second coupling link second side link 2362 are arranged in parallel. The first steel wire transition bearing 2363 and the second steel wire transition bearing 2364 are fitted between the index finger second coupling link first side link 2361 and index finger second coupling link second side link 2362. The first steel wire transition bearing 2363 is fitted on the hinge shaft at the upper end of the index finger MCP joint first transmission rod 232 and index finger MCP joint second transmission rod 233. The second steel wire transition bearing 2364 is fitted on the hinge shaft at the upper end of the index finger MCP joint third transmission rod 234.

[0080] The index finger MCP joint gear carrier 237 includes a first side frame 2371, a second measuring frame 2372, a third wire transition bearing 2373, and a fourth wire transition bearing 2374. The first side frame 2371 and the second measuring frame 2372 are arranged in parallel. The third wire transition bearing 2373 and the fourth wire transition bearing 2374 are fitted between the first side frame 2371 and the second measuring frame 2372. The third wire transition bearing 2373 is mounted on the hinge shaft at the lower end of the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint. The fourth wire transition bearing 2374 is mounted on the hinge shaft at the inner end of the mounting base 231 of the index finger MCP joint.

[0081] The structures of the middle finger transmission component 300, the ring finger transmission component 400, and the little finger transmission component 500 described in this embodiment are all the same as those of the index finger transmission component 200.

[0082] The four-finger fixed rails of the middle finger transmission component 300, the ring finger transmission component 400, and the little finger transmission component 500 can share the four-finger fixed guide rail 241 in the index finger transmission component 200.

[0083] Specific implementation method three: Combining Figures 1 to 37 This embodiment describes an external limb transmission assembly 600, which includes external limb fingers 610, an external limb rotating base 620, an external limb rotation drive wire transition pulley 630, and an external limb coupling wire 640. The external limb rotating base 620 is located on one side of the base 701, and the external limb rotation drive wire transition pulley 630 is located on the other side of the upper end of the base 701. The external limb fingers 610 are connected to the external limb rotating base 620, and the external limb coupling wire 640 is connected to the external limb fingers 610. The undisclosed technical features in this embodiment are the same as in specific embodiment two.

[0084] Specific implementation method four: Combination Figures 1 to 37 This embodiment describes an external limb finger 610 comprising a first external limb finger 611, a second external limb finger 612, a third external limb finger 613, and an external limb connecting male seat 614. The first external limb finger 611, the second external limb finger 612, and the third external limb finger 613 are connected sequentially from front to back. The first external limb finger 611 and the second external limb finger 612, as well as the second external limb finger 612 and the third external limb finger 613, are rotatably connected. The external limb connecting male seat 614 is inserted into the front end of the external limb rotating female seat 620. Undisclosed technical features in this embodiment are the same as in specific embodiment three.

[0085] Specific Implementation Method Five: Combining Figures 1 to 37 This embodiment describes the following: the first segment of the extremity 611 includes the phalanx 6111, the pulley 6112, and the return torsion spring 6113; the second segment of the extremity 612 includes the phalanx 6121, the pulley 6122, and the return torsion spring 6123; the third segment of the extremity 613 includes the phalanx 6131, the pulley 6132, and the return torsion spring 6133; and the extremity connecting male seat 614 includes the frame 6141 and the pulley gear 6142.

[0086] The posterior end of the first phalanx 6111 of the extremity is hinged to the anterior end of the second phalanx 6121 of the extremity via a first pin. A return torsion spring 6113 for the first phalanx is mounted on the first pin, with one end of the spring locked inside the first phalanx 6111 and the other end locked inside the second phalanx 6121. A pulley 6112 for the first phalanx is mounted on the first pin. The posterior end of the second phalanx 6121 of the extremity is hinged to the anterior end of the third phalanx 6131 of the extremity via a second pin. A return torsion spring 6123 for the second phalanx is mounted on the second pin, with one end locked inside the second phalanx 6121. The other end of the finger repositioning torsion spring 6123 is fitted inside the phalanx 6131 of the third phalanx of the external limb, and the pulley 6122 of the second phalanx of the external limb is mounted on the second pin. The rear end of the phalanx 6131 of the third phalanx of the external limb is hinged to the front end of the external limb connecting male frame 6141 via the third pin. The finger repositioning torsion spring 6133 of the third phalanx of the external limb is mounted on the third pin. One end of the finger repositioning torsion spring 6133 is fitted inside the phalanx 6131 of the third phalanx of the external limb, and the other end of the finger repositioning torsion spring 6133 is fitted inside the external limb connecting male frame 6141. The pulley 6132 of the third phalanx of the external limb is mounted on the third pin. A fourth pin is inserted into the side wall of the rear end of the external limb connecting male frame 6141, and the pulley gear 6142 of the external limb connecting male is mounted on the fourth pin.

[0087] The front end of the external limb coupling wire 640 is fixedly connected to the front end of the phalanx 6111 of the first phalanx of the external limb. The rear end of the external limb coupling wire 640 passes sequentially around the pulleys of the first phalanx 6112, the second phalanx 6122, the third phalanx 6132, and the external limb connecting male seat pulley gear 6142 before being fixedly connected to the pulley of the external limb connecting male seat pulley gear 6142. The undisclosed technical features in this embodiment are the same as those in specific embodiment four.

[0088] Specific Implementation Method Six: Combination Figures 1 to 37This embodiment describes the external limb rotating female seat 620, which includes an external limb rotating female seat frame 6211, an external limb rotating female seat pulley gear 6212, an external limb rotating female seat fixing pin 6213, an external limb rotating female seat bending return torsion spring 6214, and an external limb rotating female seat rotation return torsion spring 6215. The rear end of the external limb connecting male seat frame 6141 is inserted into the front end of the external limb rotating female seat frame 6211. A fifth pin is inserted into the side wall of the front end of the external limb rotating female seat frame 6211. The external limb rotating female seat pulley gear 6212 is fitted onto the end of the fifth pin. The external limb rotating female seat bending return torsion spring 6214 is fitted onto the fifth pin and engaged with the external limb rotating female seat pulley gear. The inner end of gear 6212 is between the inner end and the side wall of the outer limb rotating female seat frame 6211. The rear end of the outer limb rotating female seat frame 6211 is inserted into the other side of the base 701, and the rear end of the outer limb rotating female seat frame 6211 is rotatably connected to the base 701 through the outer limb rotating female seat fixing pin 6213. The outer limb rotating female seat rotation return torsion spring 6215 is fitted on the outer limb rotating female seat fixing pin 6213 and is clamped between the outer limb rotating female seat frame 6211 and the base 701. The outer limb rotating female seat pulley gear 6212 and the outer limb connecting male seat pulley gear 6142 are meshed. A winding ring groove is formed along the circumferential direction on the side wall of the rear end of the outer limb rotating female seat frame 6211. The undisclosed technical features in this embodiment are the same as those in specific embodiment five.

[0089] Specific implementation method seven: Combination Figures 1 to 37 In this embodiment, the rear end of the external limb connecting male seat frame 6141 and the front end of the external limb rotating female seat frame 6211 are interference-fitted. The undisclosed technical features in this embodiment are the same as in specific embodiment six.

[0090] Specific implementation method eight: Combination Figures 1 to 37This embodiment describes a remote motor drive assembly 80 comprising: a thumb CMC joint flexion-extension motion drive assembly 801; a thumb CMC joint abduction-adduction motion drive assembly 802; an index finger MCP joint flexion-extension motion drive assembly 803; an index finger PIP joint abduction-adduction motion drive assembly 804; a middle finger MCP joint flexion-extension motion drive assembly 805; a middle finger PIP joint abduction-adduction motion drive assembly 806; a ring finger MCP joint flexion-extension motion drive assembly 807; a ring finger PIP joint abduction-adduction motion drive assembly 808; a little finger MCP joint flexion-extension motion drive assembly 809; a little finger PIP joint abduction-adduction motion drive assembly 810; an external limb rotation drive assembly 811; an external limb flexion drive assembly 812; an upper motor base plate 813; a lower motor base plate 814; a Bowden cable bundle 815; and a support stud assembly 816. The upper motor base plate 813 and the lower motor base plate 814 are... The motor upper base plate 813 and the motor lower base plate 814 are arranged in parallel. They are fixedly connected by a support stud assembly 816. The thumb CMC joint flexion and extension motion drive assembly 801, thumb CMC joint abduction and retraction motion drive assembly 802, index finger MCP joint flexion and extension motion drive assembly 803, index finger PIP joint abduction and retraction motion drive assembly 804, middle finger MCP joint flexion and extension motion drive assembly 805, middle finger PIP joint abduction and retraction motion drive assembly 806, ring finger MCP joint flexion and extension motion drive assembly 807, ring finger PIP joint abduction and retraction motion drive assembly 808, little finger MCP joint flexion and extension motion drive assembly 809, little finger PIP joint abduction and retraction motion drive assembly 810, limb rotation drive assembly 811 and limb flexion drive assembly 812 are alternately arranged on the upper end surface of the motor upper base plate 813. The drive assembly Bowden cable sleeve hub 815 is fixedly connected to the front end of the upper end surface of the motor upper base plate 813. The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Six.

[0091] The support stud assembly 816 includes a first support stud 8161, a second support stud 8162, a third support stud 8163, and a fourth support stud 8164, which are respectively disposed at the four corners between the upper base plate 813 and the lower base plate 814 of the motor.

[0092] Specific Implementation Method Nine: Combining Figures 1 to 37This embodiment describes a method where the thumb CMC joint flexion-extension motion drive component 801 drives the flexion and extension of the CMC and MCP joints of the thumb 10, and the thumb CMC joint abduction-adduction motion drive component 802 drives the abduction and adduction of the CMC joint of the thumb 10; the index finger MCP joint flexion-extension motion drive component 803 drives the flexion and extension of the MCP joint of the index finger 20, and the index finger PIP joint abduction-adduction motion drive component 804 drives the abduction and adduction of the PIP joint of the index finger 20; the middle finger MCP joint flexion-extension motion drive component 805 drives the flexion and extension of the MCP joint of the middle finger 30, and the middle finger PIP joint abduction-adduction motion drive component 806... The middle finger 30's PIP joint is abducted and retracted; the ring finger's MCP joint flexion and extension drive assembly 807 drives the ring finger 40's MCP joint flexion and extension, and the ring finger's PIP joint abduction and retraction drive assembly 808 drives the ring finger 40's PIP joint abduction and retraction; the little finger's MCP joint flexion and extension drive assembly 809 drives the little finger 50's MCP joint flexion and extension, and the little finger's PIP joint abduction and retraction drive assembly 810 drives the little finger 50's PIP joint abduction and retraction; the limb rotation drive assembly 811 drives the limb transmission assembly 600 to rotate, and the limb flexion drive assembly 812 drives the limb transmission assembly 600 to flex. The undisclosed technical features in this embodiment are the same as in specific embodiment eight.

[0093] The thumb CMC joint flexion and extension motion drive assembly 801 described in this embodiment includes a thumb CMC joint flexion and extension motion drive Bowden cable sleeve 8011, a thumb CMC joint flexion and extension motion drive Bowden steel wire 8012, a thumb CMC joint flexion and extension motion drive motor 8013, and a thumb CMC joint flexion and extension motion drive pulley 8014. The thumb CMC joint flexion and extension motion drive Bowden cable sleeve 8011 is fixedly connected to the front end of the drive assembly Bowden cable sleeve hub 815. The input end of the thumb CMC joint flexion and extension motion drive Bowden steel wire 8012 is connected to the drive assembly Bowden cable sleeve hub. 815 passes through and is fixedly connected to the thumb CMC joint flexion and extension motion drive rope wheel 8014. The thumb CMC joint flexion and extension motion drive rope wheel 8014 is fixedly connected to the output shaft of the thumb CMC joint flexion and extension motion drive motor 8013. The thumb CMC joint flexion and extension motion drive motor 8013 is fixedly connected to the upper end surface of the upper base plate 813 of the motor. The output end of the thumb CMC joint flexion and extension motion drive Bowden steel wire 8012 passes through and is fixedly connected to the upper end of the arc-shaped winding groove at the lower end of the thumb CMC joint second transmission rod 123 via the thumb CMC joint flexion and extension motion drive Bowden wire sleeve 8011.

[0094] The thumb CMC joint abduction and retraction motion drive assembly 802 includes a thumb CMC joint abduction and retraction motion drive Bowden wire sleeve 8021, a thumb CMC joint abduction and retraction motion drive Bowden steel wire 8022, a thumb CMC joint abduction and retraction motion drive motor 8023, a thumb CMC joint abduction and retraction motion drive pulley 8024, and a thumb first reset transmission steel wire 8025. The thumb CMC joint abduction and retraction motion drive Bowden wire sleeve 8021 is fixedly connected to the front end of the drive assembly Bowden wire sleeve hub 815. The input end of the thumb CMC joint abduction and retraction motion drive Bowden steel wire 8022 passes through the drive assembly Bowden wire sleeve hub 815 and is fixedly connected to the thumb CMC joint abduction and retraction motion drive pulley 8024. The drive pulley 8024 is fixedly connected to the output shaft of the thumb CMC joint extension and retraction motion drive motor 8023. The thumb CMC joint extension and retraction motion drive motor 8023 is fixedly connected to the upper end surface of the motor upper base plate 813. The output end of the thumb CMC joint extension and retraction motion drive Bowden steel wire 8022 passes through the thumb CMC joint extension and retraction motion drive Bowden wire sleeve 8021, the base assembly hub 702, and the thumb guide rail second pulley 136 and is fixedly connected to the wire hole at the right end of the thumb sliding base 134. One end of the thumb first reset transmission steel wire 8025 is fixedly connected to the wire hole at the left end of the thumb sliding base 134, and the other end of the thumb first reset transmission steel wire 8025 is fixedly connected to the other end of the thumb extension and retraction reset tension spring 137.

[0095] Under the combined drive of the thumb CMC joint flexion and extension motion drive assembly 801 and the thumb CMC joint reset torsion spring 125, the present invention can drive the CMC and MCP joints of the thumb 10 to perform flexion / extension movements. Figure 12 This is a frontal view of the thumb in the extended state driven by the present invention; Figure 13 This is a schematic diagram of the thumb CMC and MCP joints in a flexed state as described in this invention.

[0096] Driven by the thumb CMC joint abduction / retraction motion drive assembly 802 and the thumb abduction / retraction reset spring 137, the present invention can drive the CMC joint of the thumb 10 to perform abduction / retraction motion. Figure 10 This is a top view schematic diagram of the thumb extension state driven by the present invention; Figure 11 This is a schematic diagram of the thumb CMC joint in abduction state driven by the present invention.

[0097] The index finger MCP joint flexion and extension motion drive assembly 803 described in this embodiment includes an index finger MCP joint flexion and extension motion drive Bowden cable sleeve 8031, an index finger MCP joint flexion and extension motion drive Bowden steel wire 8032, an index finger MCP joint flexion and extension motion drive motor 8033, and an index finger MCP joint flexion and extension motion drive pulley 8034. The index finger MCP joint flexion and extension motion drive Bowden cable sleeve 8031 ​​is fixedly connected to the front end of the drive assembly Bowden cable sleeve hub 815, and the input end of the index finger MCP joint flexion and extension motion drive Bowden steel wire 8032 passes through the drive assembly Bowden cable sleeve hub 815. The index finger MCP joint flexion and extension motion drive rope wheel 8034 is fixedly connected to the index finger MCP joint flexion and extension motion drive motor 8033. The index finger MCP joint flexion and extension motion drive motor 8033 is fixedly connected to the upper end surface of the motor upper base plate 813. The output end of the index finger MCP joint flexion and extension motion drive Bowden steel wire 8032 is fixedly connected to the upper end of the arc-shaped winding groove at the lower end of the index finger MCP joint third transmission rod 234 via the index finger MCP joint flexion and extension motion drive Bowden wire sleeve 7031 and the base assembly hub 602.

[0098] The index finger PIP joint flexion-extension motion drive assembly 804 includes a Bowden cable sleeve 8041, a Bowden steel wire 8042, a motor 8043, and a pulley 8044. The Bowden cable sleeve 8041 is fixed to the front end of the Bowden cable sleeve hub 815 of the drive assembly. The input end of the Bowden steel wire 8042 passes through the Bowden cable sleeve hub 815 and is fixed to the pulley 8044. The output shaft of the index finger PIP joint flexion and extension motion drive motor 8043 is fixedly connected to the output shaft of the index finger PIP joint flexion and extension motion drive motor 8043, which is fixedly connected to the upper end surface of the upper base plate 813 of the motor. The output end of the index finger PIP joint flexion and extension motion drive Bowden wire 8042 is fixedly connected to the upper end of the arc-shaped winding groove at the lower end of the index finger PIP joint second drive rod 223 via the index finger PIP joint flexion and extension motion drive Bowden wire sleeve 8041, base assembly hub 702, index finger MCP joint third transmission rod 234, fifth wire transition bearing 239, first wire transition bearing 2363, second wire transition bearing 2364, third wire transition bearing 2373, and third wire transition bearing 2374.

[0099] Under the combined drive of the index finger MCP joint flexion and extension motion drive component 803 and the index finger MCP joint reset torsion spring 238, the present invention can drive the MCP joint of the index finger 20 to perform flexion / extension motion. Figure 6This is a schematic diagram of the index finger being extended in the state driven by the present invention; Figure 7 This is a schematic diagram of the index finger MCP joint in a flexed state driven by the present invention.

[0100] Under the combined drive of the index finger PIP joint abduction and retraction motion drive assembly 804 and the thumb-index finger PIP joint reset torsion spring 224, the present invention can drive the PIP joint of the index finger 10 to perform flexion / extension movements. Figure 6 This is a schematic diagram of the index finger being extended in the state driven by the present invention; Figure 8 This is a schematic diagram of the flexed state of the PIP and DIP joints of the index finger according to the present invention.

[0101] Figure 9 This is a schematic diagram of the simultaneous flexion state of the index finger's MCP joint, PIP joint, and DIP joint according to the present invention.

[0102] Figure 20 This is a schematic diagram of an exoskeleton gear joint. This type of gear joint is used in the index finger MCP joint transmission assembly 230 and other finger MCP joint transmission assemblies, enabling the length of the steel wire passing through this gear joint to be unaffected by changes in the gear joint's movement angle.

[0103] The purpose of the coupling link in this invention is that the angle between the first transmission rod 232 and the second transmission rod 233 of the index finger MCP joint and the third transmission rod 234 of the index finger MCP joint changes with the angle between the third transmission rod 234 of the index finger MCP joint and the index finger sliding base 243.

[0104] The structures of the middle finger MCP joint flexion and extension motion driving component 805, the ring finger MCP joint flexion and extension motion driving component 807, and the little finger MCP joint flexion and extension motion driving component 809 described in this embodiment are the same as those of the index finger MCP joint flexion and extension motion driving component 803.

[0105] The structures of the middle finger PIP joint abduction and retraction motion drive component 806, the ring finger PIP joint abduction and retraction motion drive component 808, and the little finger PIP joint abduction and retraction motion drive component 810 are all the same as those of the index finger PIP joint flexion and extension motion drive component 804.

[0106] The driving principle of the MCP and PIP joints of the middle finger (30), ring finger (40), and little finger (50) is the same as that of the index finger (10).

[0107] Specific Implementation Method Ten: Combining Figures 1 to 37This embodiment describes the external limb rotation drive assembly 811, which includes an external limb rotation drive Bowden cable sleeve 8111, an external limb rotation drive Bowden steel wire 8112, an external limb rotation drive motor 8113, and an external limb rotation drive pulley 8114. The external limb rotation drive Bowden cable sleeve 8111 is fixedly connected to the front end of the drive assembly Bowden cable sleeve hub 815. The input end of the external limb rotation drive Bowden steel wire 8112 is connected to the drive assembly Bowden cable sleeve hub 8115. 5. The external limb rotation drive rope pulley 8114 is fixedly connected to the output shaft of the external limb rotation drive motor 8113. The external limb rotation drive motor 8113 is fixedly connected to the upper end surface of the motor upper base plate 813. The output end of the external limb rotation drive Bowden steel wire 8112 passes through the external limb rotation drive Bowden wire sleeve 8111 and the base assembly hub 702 and is fixedly connected to the winding ring groove at the rear end of the external limb rotation female seat frame 6211.

[0108] The external limb flexion drive assembly 812 includes an external limb flexion drive Bowden wire sleeve 8121, an external limb flexion drive Bowden wire 8122, an external limb flexion drive motor 8123, and an external limb flexion drive pulley 8124. The external limb flexion drive Bowden wire sleeve 8121 is fixedly connected to the front end of the drive assembly Bowden wire sleeve hub 815. The input end of the external limb rotation drive Bowden wire 8112 passes through the drive assembly Bowden wire sleeve hub 815 and is fixedly connected to the external limb flexion drive pulley 8124. The limb flexion drive sheave 8124 is fixedly connected to the output shaft of the limb flexion drive motor 8123. The limb flexion drive motor 8123 is fixedly connected to the upper end surface of the motor upper base plate 813. The output end of the limb flexion drive Bowden wire 8122 passes through the limb flexion drive Bowden wire sleeve 8121 and the base assembly hub 702 and is fixedly connected to the pulley of the limb rotation female seat pulley gear 6212. The undisclosed technical features in this embodiment are the same as those in specific embodiment nine.

[0109] The external limb flexion drive Bowden wire 8112 drives the external limb rotating female seat pulley gear 6212 to rotate; the rotation of the external limb rotating female seat pulley gear 6212 drives the external limb connecting male seat pulley gear 6142 to rotate; such as Figure 25 As shown; the input end of the external limb coupling steel wire 640 is fixed to the external limb connecting male seat pulley gear 6142, and is fixed to the external limb first finger bone 6111 via the external limb third finger pulley 6132, external limb second finger pulley 6122, and external limb first finger pulley 6112.

[0110] Under the joint drive of the external limb rotation drive assembly 811 and the external limb rotation female seat rotation reset torsion spring 6215, the present invention can drive the external limb assembly 812 to rotate. Figure 29 This is a frontal view of the external limb component of the present invention in an extended state; Figure 30 This is a frontal view of the external limb assembly of the present invention in a rotated state.

[0111] Under the joint drive of the external limb rotation drive assembly 812 and the external limb rotation female seat flexion return torsion spring 6214, the external limb transmission assembly 600 can drive the external limb rotation female seat pulley gear 6212 to rotate; the rotation of the external limb rotation female seat pulley gear 6212 drives the external limb connecting male seat pulley gear 6142 to rotate; the external limb connecting male seat pulley gear 6142 drives the external limb coupling steel wire 640 to drive the external limb fingers, the first external limb finger 611, the second external limb finger 612, and the third external limb finger 613 to perform adaptive underactuated flexion movements.

[0112] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A multi-limb hand robot system, characterized in that: It includes a thumb (10), index finger (20), middle finger (30), ring finger (40), little finger (50), a thumb drive assembly (100), an index finger drive assembly (200), a middle finger drive assembly (300), a ring finger drive assembly (400), a little finger drive assembly (500), an external limb drive assembly (600), a base assembly (700), and a remote motor drive assembly (80). The base assembly (700) is fixed to the back of the hand by a palm strap (703). The fixed ends of the thumb drive assembly (100), index finger drive assembly (200), middle finger drive assembly (300), ring finger drive assembly (400), little finger drive assembly (500), and external limb drive assembly (600) are all set on the base assembly (700). The thumb (10) and the thumb drive assembly (100) are connected to the base assembly (80). The index finger (20) is connected to the execution end of the index finger transmission component (200), the middle finger (30) is connected to the execution end of the middle finger transmission component (300), the ring finger (40) is connected to the execution end of the ring finger transmission component (400), and the little finger (50) is connected to the execution end of the little finger transmission component (500). The distal motor drive component (80) drives the thumb transmission component (100), index finger transmission component (200), middle finger transmission component (300), ring finger transmission component (400), and little finger transmission component (500) respectively through Bowden wire to realize the extension and retraction and flexion of the thumb (10), index finger (20), middle finger (30), ring finger (40), and little finger (50). The distal motor drive component (80) drives the external limb transmission component (600) through Bowden wire to realize rotation and flexion. The base assembly (700) includes a base (701) and a base assembly hub (702). The base assembly hub (702) is fixed to the rear side of the upper end of the base (701). The thumb transmission assembly (100) is disposed on one side of the base (701). The index finger transmission assembly (200), middle finger transmission assembly (300), ring finger transmission assembly (400) and little finger transmission assembly (500) are disposed on the front side of the upper end of the base (701). The external limb transmission assembly (600) is disposed on the other side of the base (701). The external limb transmission assembly (600) includes an external limb finger (610), an external limb rotating base (620), an external limb rotating drive wire transition pulley (630), and an external limb coupling wire (640). The external limb rotating base (620) is located on the other side of the base (701), and the external limb rotating drive wire transition pulley (630) is located on the other side of the upper end of the base (701). The external limb finger (610) is connected to the external limb rotating base (620), and the external limb coupling wire (640) is connected to the external limb finger (610). The external limb finger (610) includes an external limb first segment finger (611), an external limb second segment finger (612), an external limb third segment finger (613), and an external limb connecting male (614). The external limb first segment finger (611), external limb second segment finger (612), and external limb third segment finger (613) are connected sequentially from front to back. The external limb first segment finger (611) and external limb second segment finger (612) are rotatably connected, as are the external limb second segment finger (612) and external limb third segment finger (613). The external limb connecting male (614) is inserted into the front end of the external limb rotating female (620). The first segment of the external limb (611) includes the phalanx of the first segment of the external limb (6111), the pulley of the first segment of the external limb (6112), and the return torsion spring of the first segment of the external limb (6113). The second segment of the external limb (612) includes the phalanx of the second segment of the external limb (6121), the pulley of the second segment of the external limb (6122), and the return torsion spring of the second segment of the external limb (6123). The third segment of the external limb (613) includes the phalanx of the third segment of the external limb (6131), the pulley of the third segment of the external limb (6132), and the return torsion spring of the third segment of the external limb (6133). The external limb connecting seat (614) includes the external limb connecting seat frame (6141) and the external limb connecting seat pulley gear (6142). The posterior end of the first phalanx (6111) of the extremity is hinged to the anterior end of the second phalanx (6121) of the extremity via a first pin. A first finger reset torsion spring (6113) is mounted on the first pin, with one end of the spring (6113) secured to the inner side of the first phalanx (6111) and the other end secured to the inner side of the second phalanx (6121). A first finger pulley (6112) is mounted on the first pin. The posterior end of the second phalanx (6121) of the extremity is hinged to the anterior end of the third phalanx (6131) of the extremity via a second pin. A second finger reset torsion spring (6123) is mounted on the second pin, with one end secured to the inner side of the second phalanx (6121). The other end of the second finger repositioning torsion spring (6123) is fitted onto the inner side of the third finger phalanx (6131) of the external limb. The pulley (6122) of the second finger of the external limb is mounted on the second pin. The rear end of the third finger phalanx (6131) of the external limb is hinged to the front end of the external limb connecting seat frame (6141) via the third pin. The third finger repositioning torsion spring (6133) of the external limb is mounted on the third pin. One end of the spring (6133) is fitted into the inner side of the phalanx (6131) of the third phalanx of the external limb, and the other end of the spring (6133) is fitted into the inner side of the frame (6141) of the external limb connecting seat. The pulley (6132) of the third phalanx of the external limb is mounted on the third pin. A fourth pin is inserted into the side wall of the rear end of the frame (6141) of the external limb connecting seat, and the pulley gear (6142) of the external limb connecting seat is mounted on the fourth pin. The front end of the external limb coupling wire (640) is fixed to the front end of the first phalanx (6111) of the external limb. The rear end of the external limb coupling wire (640) passes through the pulleys of the first phalanx (6112), the second phalanx (6122), the third phalanx (6132), and the external limb connecting male seat pulley gear (6142) in sequence, and is then fixed to the pulley of the external limb connecting male seat pulley gear (6142).

2. The multi-limb hand robot system according to claim 1, characterized in that: The external limb rotating female seat (620) includes an external limb rotating female seat frame (6211), an external limb rotating female seat pulley gear (6212), an external limb rotating female seat fixing pin (6213), an external limb rotating female seat buckling return torsion spring (6214), and an external limb rotating female seat rotation return torsion spring (6215). The rear end of the external limb connecting male seat frame (6141) is inserted into the front end of the external limb rotating female seat frame (6211). A fifth pin is inserted into the side wall of the front end of the external limb rotating female seat frame (6211). The external limb rotating female seat pulley gear (6212) is fitted onto the end of the fifth pin. The external limb rotating female seat buckling return torsion spring (6214) is fitted onto the fifth pin and engaged with the external limb rotating female seat pulley gear (6212). Between the inner end and the side wall of the outer limb rotating female seat frame (6211), the rear end of the outer limb rotating female seat frame (6211) is inserted into the other side of the base (701), and the rear end of the outer limb rotating female seat frame (6211) is rotatably connected to the base (701) through the outer limb rotating female seat fixing pin (6213). The outer limb rotating female seat rotation reset torsion spring (6215) is fitted on the outer limb rotating female seat fixing pin (6213) and is clamped between the outer limb rotating female seat frame (6211) and the base (701). The gear meshes between the outer limb rotating female seat pulley gear (6212) and the outer limb connecting male seat pulley gear (6142). A winding ring groove is opened along the circumferential direction on the side wall of the rear end of the outer limb rotating female seat frame (6211).

3. The multi-limb hand robot system according to claim 2, characterized in that: The rear end of the external limb connecting male seat frame (6141) is interference-fitted with the front end of the external limb rotating female seat frame (6211).

4. The multi-limb hand robot system according to claim 2, characterized in that: The remote motor drive assembly (80) includes a thumb CMC joint flexion and extension motion drive assembly (801), a thumb CMC joint abduction and adduction motion drive assembly (802), an index finger MCP joint flexion and extension motion drive assembly (803), an index finger PIP joint abduction and adduction motion drive assembly (804), a middle finger MCP joint flexion and extension motion drive assembly (805), a middle finger PIP joint abduction and adduction motion drive assembly (806), a ring finger MCP joint flexion and extension motion drive assembly (807), and a ring finger PIP joint abduction and adduction motion drive assembly (808). The assembly includes a joint abduction / adduction motion drive component (808), a little finger MCP joint flexion / extension motion drive component (809), a little finger PIP joint abduction / adduction motion drive component (810), an external limb rotation drive component (811), an external limb flexion drive component (812), an upper motor base plate (813), a lower motor base plate (814), a drive assembly Bowden cable bundle (815), and a support stud assembly (816). The upper motor base plate (813) and the lower motor base plate (814) are arranged side by side in parallel. The upper base plate (813) and the lower base plate (814) of the motor are fixedly connected by a support stud assembly (816). The following components are included: thumb CMC joint flexion-extension motion drive assembly (801), thumb CMC joint abduction-adduction motion drive assembly (802), index finger MCP joint flexion-extension motion drive assembly (803), index finger PIP joint abduction-adduction motion drive assembly (804), middle finger MCP joint flexion-extension motion drive assembly (805), middle finger PIP joint abduction-adduction motion drive assembly (806), and ring finger... The MCP joint flexion and extension motion drive assembly (807), the ring finger PIP joint abduction and retraction motion drive assembly (808), the little finger MCP joint flexion and extension motion drive assembly (809), the little finger PIP joint abduction and retraction motion drive assembly (810), the external limb rotation drive assembly (811), and the external limb flexion drive assembly (812) are alternately arranged on the upper end surface of the upper base plate of the motor (813), and the drive assembly Bowden cable bundle (815) is fixed to the front end of the upper end surface of the upper base plate of the motor (813).

5. The multi-limb hand robot system according to claim 4, characterized in that: The thumb CMC joint flexion and extension motion drive component (801) drives the CMC joint and MCP joint of the thumb (10) to flex and extend, and the thumb CMC joint abduction and retraction motion drive component (802) drives the CMC joint of the thumb (10) to abduct and retract; the index finger MCP joint flexion and extension motion drive component (803) drives the MCP joint of the index finger (20) to flex and extend, and the index finger PIP joint abduction and retraction motion drive component (804) drives the PIP joint of the index finger (20) to abduct and retract; the middle finger MCP joint flexion and extension motion drive component (805) drives the MCP joint of the middle finger (30) to flex and extend, and the middle finger PIP joint abduction and retraction motion drive component (806) drives the PIP joint of the middle finger (30) to abduct and retract; the ring finger MCP joint flexion and extension motion drive component (807) drives the MCP joint of the ring finger (40) to flex and extend, and the ring finger PIP joint abduction and retraction motion drive component (808) drives the PIP joint of the ring finger (40) to abduct and retract; The little finger MCP joint flexion and extension motion drive component (809) drives the little finger (50) to flex and extend the MCP joint; the little finger PIP joint abduction and retraction motion drive component (810) drives the little finger (50) to abduct and retract the PIP joint; the limb rotation drive component (811) drives the limb transmission component (600) to rotate; and the limb flexion drive component (812) drives the limb transmission component (600) to flex.

6. The multi-limb hand robot system according to claim 5, characterized in that: The external limb rotation drive assembly (811) includes an external limb rotation drive Bowden wire sleeve (8111), an external limb rotation drive Bowden steel wire (8112), an external limb rotation drive motor (8113), and an external limb rotation drive pulley (8114). The external limb rotation drive Bowden wire sleeve (8111) is fixedly connected to the front end of the drive assembly Bowden wire sleeve hub (815). The input end of the external limb rotation drive Bowden steel wire (8112) passes through the drive assembly Bowden wire sleeve hub (815) and is fixedly connected to the external limb rotation drive Bowden wire. On the limb rotation drive pulley (8114), the outer limb rotation drive pulley (8114) is fixed to the output shaft of the outer limb rotation drive motor (8113), the outer limb rotation drive motor (8113) is fixed to the upper end surface of the motor upper base plate (813), and the output end of the outer limb rotation drive Bowden wire (8112) passes through the outer limb rotation drive Bowden wire sleeve (8111) and the base assembly hub (702) and is fixed in the winding ring groove at the rear end of the outer limb rotation female seat frame (6211); The external limb flexion drive assembly (812) includes an external limb flexion drive Bowden wire sleeve (8121), an external limb flexion drive Bowden wire (8122), an external limb flexion drive motor (8123), and an external limb flexion drive pulley (8124). The external limb flexion drive Bowden wire sleeve (8121) is fixed to the front end of the drive assembly Bowden wire sleeve hub (815). The input end of the external limb rotation drive Bowden wire (8112) passes through the drive assembly Bowden wire sleeve hub (815) and is fixed to the external limb flexion drive pulley. On the limb flexion drive pulley (8124), the external limb flexion drive pulley (8124) is fixed to the output shaft of the external limb flexion drive motor (8123). The external limb flexion drive motor (8123) is fixed to the upper end surface of the motor upper base plate (813). The output end of the external limb flexion drive Bowden wire (8122) passes through the external limb flexion drive Bowden wire sleeve (8121) and the base assembly hub (702) and is fixed to the pulley of the external limb rotating female seat pulley gear (6212).

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