A fabric-constrained rigid-flexible coupled bionic hand

Abstract

The application discloses a fabric-restrained rigid-flexible coupling bionic hand and relates to the technical field of bionic hands. The bionic hand not only realizes the regulation and control of the bending stiffness in the driving direction of the driver, solves the decoupling problem of the bending stiffness, provides larger output force and a movement range, but also adopts an underactuated mode to reproduce the extension and retraction movement of four fingers. The bionic hand comprises a palm, four finger drivers, a thumb driver, a wrist-palm joint and an extension and retraction driver. The finger driver comprises a first fingertip stop block, a first fabric driver, an interphalangeal joint, a second fabric driver, a first finger base and a first reset spring wire. The first and second fabric drivers can convert the gas pressure into driving force to simulate the bending movement of the finger joint. The thumb driver can simulate the bending movement of the thumb. The wrist-palm joint can drive the thumb driver to simulate the yaw movement of the thumb. The extension and retraction driver can drive the four finger drivers to simulate the extension and retraction movement of the fingers.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic hand, and particularly relates to a fabric-constrained rigid-flexible coupling bionic hand. BACKGROUND

[0002] As a relatively mature driving technology, pneumatic driving is adopted by more bionic hands due to its advantages of safety, simplicity, reliability, fast response and the like. The rigid-flexible coupling structure makes the bionic hand have the advantages of rigidity and flexibility by introducing a rigid skeleton in the form of a soft bionic hand. However, in the existing pneumatic driving rigid-flexible coupling bionic hand, there are still problems such as insufficient output force, low rigidity in the non-driving direction, slow motion response speed and the like. Due to the influence of materials, driver configuration and process, the current driver design still has a high coupling in the performance of rigidity in each direction, and cannot realize the anisotropic customization of rigidity in the motion direction and the non-motion direction. In addition, the bionic hand at the present stage mainly focuses on the research on the finger flexion and extension function to realize a simple grasping action, and lacks the design exploration of the four-finger spreading and closing function. In order to realize higher dexterity of the bionic hand, new requirements are put forward for the mechanism and driving method of the bionic hand spreading and closing function. SUMMARY

[0003] Embodiments of the present application provide a fabric-constrained rigid-flexible coupling bionic hand, which not only realizes the decoupling of the bending rigidity in the motion direction of the driver, solves the decoupling problem of the bending rigidity, provides a larger output force and a larger motion range, but also adopts an under-actuated mode to reproduce the spreading and closing motion of the four fingers.

[0004] To achieve the above object, embodiments of the present application provide a fabric-constrained rigid-flexible coupling bionic hand, which comprises a palm, four finger drivers, a thumb driver, a wrist-palm joint and a spreading and closing driver connected to the palm; the finger driver comprises a first fingertip stop block, a first fabric driver, an interphalangeal joint, a second fabric driver, a first finger base and a first reset spring wire; the first fingertip stop block, the first fabric driver, the interphalangeal joint, the second fabric driver and the first finger base are connected in sequence; the two ends of the first reset spring wire are connected to the first fabric driver and the second fabric driver respectively; the first fabric driver and the second fabric driver can convert gas pressure into driving force to simulate the bending motion of the finger joint; the upper end of the first finger base is connected to the second fabric driver, and the lower end is hinged to the palm; the thumb driver can simulate the bending motion of the thumb; the wrist-palm joint is arranged between the thumb driver and the palm; the wrist-palm joint can drive the thumb driver to simulate the yaw motion of the thumb; the spreading and closing driver is arranged between the finger driver and the palm; the spreading and closing driver can drive the four finger drivers to simulate the spreading and closing motion of the four fingers.

[0005] Further, the first fabric driver comprises a first driver skeleton, a first fabric constraint layer and a first fabric air bag; the first fabric constraint layer is connected to the front surface of the first driver skeleton and forms a plurality of first fabric air bag accommodating cavities arranged side by side in up and down directions, the first fabric air bag accommodating cavities are left-right through cavities; the first fabric air bag is a cylindrical nylon TPU film cloth; the first fabric air bag is sequentially inserted into each first fabric air bag accommodating cavity in a serpentine shape after being folded; the first fabric air bag is provided with a first air inlet pipe for communicating with an air source.

[0006] Further, the first fabric constraint layer is cut from a whole plain nylon fabric strip; the first driver skeleton comprises a first connecting plate, a second connecting plate and a plurality of intermediate plates arranged between the first connecting plate and the second connecting plate; the plurality of intermediate plates are equidistantly arranged; the first connecting plate, the second connecting plate and the intermediate plates are all provided with first long holes; the first fabric constraint layer is sequentially inserted into the first long holes and fixed at both ends to the first connecting plate and the second connecting plate; the mouth of the first long hole is provided with an intersegment cover plate; the intersegment cover plate tightly presses the first fabric constraint layer on the first driver skeleton.

[0007] Further, the second fabric driver has the same structure as the first fabric driver, and the length of the second fabric driver is less than that of the first fabric driver.

[0008] Further, the first reset spring wire is two; recesses are arranged on both sides of the rear surface of the first driver skeleton of the first fabric driver and on both sides of the rear surface of the second driver skeleton of the second fabric driver; the middle section of the first reset spring wire is embedded into the recesses, and both ends are connected to the first driver skeleton and the second driver skeleton respectively.

[0009] Further, an installation groove is arranged on the palm; the unfolding and folding driver comprises a wave-shaped elastic skeleton, a skin wrapped around the outer periphery of the elastic skeleton and four flexible connecting pieces connected to the elastic skeleton; the flexible connecting piece comprises an elastic rod and a connecting sleeve connected to the upper end of the elastic rod; the upper end of the palm is provided with four finger installation seats; the first finger base of the finger driver is provided with an installation hole; an insertion slot is arranged on the side wall of the installation hole; the elastic rod passes through the insertion slot; the inner hole of the connecting sleeve is connected to the corresponding finger installation seat through a rotating bearing, and the outer cylindrical surface is fixedly connected to the installation hole of the first finger base.

[0010] Further, a sealed cavity is formed between the skin and the elastic skeleton; the sealed cavity is provided with an air pipe in communication with an external air extraction device.

[0011] Further, the thumb driver comprises a second fingertip stop, two third fabric drivers, a second interphalangeal joint and a second proximal phalanx; the second interphalangeal joint is located between the two third fabric drivers; the second fingertip stop and the second proximal phalanx are respectively located at the end of the corresponding two third fabric drivers; the third fabric driver has the same structure as the first fabric driver, and the length of the third fabric driver is less than the length of the first fabric driver; the rear end of the second proximal phalanx is slidably connected to the palm through the carpometacarpal joint.

[0012] Further, the carpometacarpal joint comprises a carpometacarpal fabric driver and a connecting base; the third fabric driver comprises a concave mounting seat, and a carpometacarpal fabric constraint layer and a carpometacarpal fabric air bag arranged in the concave mounting seat; the side of the palm close to the thumb driver is provided with an opening; the size of the concave mounting seat is matched with the size of the opening, and the end of the concave mounting seat away from the thumb driver is connected to the side wall of the opening; the bottom of the concave mounting seat is provided with a plurality of second long holes arranged at equal intervals; the carpometacarpal fabric constraint layer has the same structure as the first fabric constraint layer; the carpometacarpal fabric air bag has the same structure as the first fabric air bag; the carpometacarpal fabric constraint layer is sequentially inserted into the second long holes and fixed at both ends to the concave mounting seat, forming a plurality of carpometacarpal fabric air bag accommodating cavities, and the carpometacarpal fabric air bag is serpentine-shaped after being folded and inserted into each carpometacarpal fabric air bag accommodating cavity; the carpometacarpal fabric air bag is provided with a second air inlet pipe for communicating with the gas source; one end of the connecting base is connected to the concave mounting seat, and the other end is slidably connected to the second proximal phalanx of the thumb driver.

[0013] Further, the connecting base is a triangular block; the large end of the connecting base is fixed to the concave mounting seat, and the small end is provided with a base connecting hole; the second proximal phalanx of the thumb driver is provided with a sliding groove; the bolt is sequentially inserted into the base connecting hole and the sliding groove and connected with the nut.

[0014] Compared with the prior art, the present application has the following beneficial effects:

[0015] 1. The finger driver and the thumb driver in the embodiment of the present application are both fabric-constrained pneumatic drivers, and the bending stiffness before adding the reset spring wire is basically 0, and the stiffness is determined by the reset spring wire, thereby solving the problem of unreasonable distribution of stiffness in each direction of the existing pneumatic driver, realizing decoupling of the bending stiffness in the movement direction of the driver, and further realizing the regulation and control of the bending stiffness design.

[0016] 2. The four-finger extension and retraction movement scheme of the present application uses an under-actuated mode to save space and simplify control while completing the four-finger extension and retraction movement reproduction, and uses the driver skin and the elastic skeleton to work together to improve the stability of the finger extension and retraction.

[0017] 3. The finger driver and the thumb driver in the embodiments of the present application both adopt a fabric-restrained rigid-flexible coupling compliant mechanism, and work through the cooperation of the added fabric restraint layer and the fabric air bag snake-shaped insertion, so as to provide good flexibility and adaptability, and solve the problem of infinite degrees of freedom of the soft hand made of flexible materials.

[0018] 4. The embodiments of the present application provide a new pneumatic bending actuation configuration to realize excellent driving function in a light structure. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020] Figure 1 It is a perspective view of the three-dimensional structure of the embodiments of the present application.

[0021] Figure 2 It is an exploded view of the embodiments of the present application (without the extension and retraction driver, the wrist palm fabric restraint layer and the wrist palm fabric air bag).

[0022] Figure 3 It is a front view of the finger driver in the embodiments of the present application.

[0023] Figure 4 It is an exploded view of the finger driver in the embodiments of the present application.

[0024] Figure 5 It is a sectional view of the finger driver in the embodiments of the present application.

[0025] Figure 6 It is a perspective view of the extension and retraction driver in the embodiments of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] In the description of the present application, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0028] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; for those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0030] Referring to Figure 1 , the embodiment of the present application provides a fabric-constrained rigid-flexible coupled bionic hand, which comprises a palm 1 and four finger drivers 2, a thumb driver 3, a wrist-palm joint 4 and an extension-retraction driver 5 connected to the palm 1. For the convenience of description, the following will be described taking the right hand as an example.

[0031] Referring to Figure 2 , the palm 1 is an irregular plate structure made of PLA material. Four finger mounting seats 11 are arranged on the upper end of the palm 1 in the circumferential direction of the finger axis, an installation groove 12 is arranged at the upper position of the middle part, and an opening 13 is arranged at the lower left end. The lower end of each of the four finger drivers 2 is connected to the corresponding finger mounting seat 11 through a rotating bearing.

[0032] Referring to Figures 3 to 6 , the finger driver 2 comprises, from top to bottom, a first fingertip stopper 21, a first fabric driver 22, an interphalangeal joint 23, a second fabric driver 24, a first finger base 25 and two first reset spring wires 26.

[0033] The shape of the fingertip stopper 21 is similar to the fingertip, which is similar to a half cylinder cut along the slope horizontally. The fingertip stopper 21 is provided with two first threaded holes 211. The fingertip stopper 21 is connected to the first fabric driver 22 through two screws.

[0034] The interphalangeal joint 23 is a hollow cuboid structure. The interphalangeal joint 23 is provided with four second threaded holes 231, and the interphalangeal joint 23 is connected to the first fabric driver 22 by four screws.

[0035] The upper end of the first proximal phalanx base 25 is provided with two third threaded holes 251, and the lower end is provided with a mounting hole 252 for connecting the extension and retraction driver 5. The side wall of the mounting hole 252 is provided with a slot 253.

[0036] The first fabric driver 22 comprises a first driver framework 221, a first fabric constraint layer 222, and a first fabric air bag 223.

[0037] The first driver framework 221 comprises a first connecting plate 2211, a second connecting plate 2212, and a plurality of intermediate plates 2213 arranged between the first connecting plate 2211 and the second connecting plate 2212. The plurality of intermediate plates 2213 are arranged at equal intervals. The first connecting plate 2211, the second connecting plate 2212, and the intermediate plates 2213 are all provided with a first long hole 225.

[0038] The first connecting plate 2211 is a rectangular plate with a rounded corner at one end, and the second connecting plate 2212 is a rectangular plate. The first connecting plate 2211 and the second connecting plate 2212 are both provided with two through holes 226. The through hole on the first connecting plate 2211 is adapted to the first threaded hole 211 on the fingertip stopper 21, and the through hole on the second connecting plate 2212 is adapted to the second threaded hole 231 at the upper end of the interphalangeal joint 23.

[0039] The first fabric constraint layer 222 is cut from a whole piece of plain nylon fabric belt. The first fabric constraint layer 222 is inserted into the first long hole 225 in a serpentine shape and is fixed at both ends to the first connecting plate 2211 and the second connecting plate 2212. The mouth of the first long hole 225 is provided with an intersegment cover plate 227, which presses the first fabric constraint layer 222 tightly against the first driver framework 221 and forms a plurality of first fabric air bag accommodating cavities arranged side by side on the front surface of the first driver framework 221. The first fabric air bag accommodating cavities are left-right through cavities.

[0040] The first fabric air bag 223 is a circular hollow structure made of nylon TPU film cloth by hot welding, and a spring gas guide wire is inserted to expand the gas guide space when the air bag is folded. The first fabric air bag 223 is inserted into each first fabric air bag accommodating cavity in a serpentine shape after being folded. The first fabric air bag 223 is provided with a first air inlet pipe 224 for communication with the gas source. In this way, by supplying air to the first fabric air bag 223, the gas pressure can be converted into driving force, so that the first fabric driver 22 simulates the bending movement of the finger joint.

[0041] The second fabric driver 24 has the same structure as the first fabric driver 22, and the length of the second fabric driver 24 is smaller than that of the first fabric driver 22, and the structure is not described here. Thus, the bending motion range requirement of the artificial hand can be met.

[0042] The rear surface of the first driver skeleton 221 and the rear surface of the second driver skeleton of the second fabric driver 24 are both provided with grooves. The middle section of the first reset spring wire 26 is embedded in the grooves, and the two ends are connected to the first driver skeleton 221 and the second driver skeleton respectively. Thus, when the finger driver 2 is bent, the first reset spring wire 26 generates a restoring torque to make the driver rebound and reset, so that it can be stabilized in the preset bending state. In addition, the bending stiffness can also be customized by changing the wire diameter of the first reset spring wire 26.

[0043] Referring to Figure 1 and Figure 2 The thumb driver 3 includes a second fingertip stopper 31, two third fabric drivers 32, a second interphalangeal joint 33, a second proximal phalanx 34, and a second reset spring wire. The second interphalangeal joint 33 is located between the two third fabric drivers 32. The second fingertip stopper 31 and the second proximal phalanx 34 are located at the ends of the corresponding two third fabric drivers 32 respectively. The third fabric driver 32 has the same structure as the first fabric driver 22, and the length of the third fabric driver 32 is smaller than that of the first fabric driver 22. The rear end of the second proximal phalanx 34 is connected to the palm 1 through the wrist-palm joint 4. Thus, the thumb driver 3 can simulate the bending motion of the thumb.

[0044] The wrist-palm joint 4 is arranged between the thumb driver 3 and the palm 1. The wrist-palm joint 4 includes a wrist-palm fabric driver 41 and a connecting base 42.

[0045] The wrist-palm fabric driver 41 includes a concave mounting seat 411, and a wrist-palm fabric constraint layer 412 and a wrist-palm fabric air bag 413 arranged in the concave mounting seat 411.

[0046] The size of the concave mounting seat 411 is matched with the size of the aperture 13 on the palm 1. The concave mounting seat 411 is arranged in the aperture 13, and the right end of the concave mounting seat 411, i.e. the end away from the thumb driver 3, is connected to the side wall of the aperture 13, and the other three sides are movable. The bottom of the concave mounting seat 411 is provided with a plurality of equidistantly arranged second long holes 414.

[0047] The wrist palm fabric constraint layer 412 has the same structure as the first fabric constraint layer 222. The wrist palm fabric air bag 413 has the same structure as the first fabric air bag 223. The wrist palm fabric constraint layer 412 is inserted into the second long slot hole 414 in sequence and is fixed at both ends on the concave mounting seat 411, forming a plurality of wrist palm fabric air bag accommodating cavities, and the wrist palm fabric air bag 413 is folded and inserted into each wrist palm fabric air bag accommodating cavity in a serpentine shape. The wrist palm fabric air bag 413 is provided with a second air inlet pipe for communicating with the gas source. Thus, by supplying air to the wrist palm fabric air bag 413, the gas pressure can be converted into driving force to drive the thumb driver to complete the yawing motion.

[0048] The connecting base 42 is a triangular block, the large end of the connecting base 42 is connected to the concave mounting seat 411, and the small end is slidingly connected to the second finger base 34 of the thumb driver 3. Specifically, the small end of the connecting base 42 is provided with a base connecting hole 421, and the second finger base 34 of the thumb driver 3 is provided with a sliding groove 341, and the bolt is connected with the nut after passing through the base connecting hole 421 and the sliding groove 341 in sequence.

[0049] Referring to Figure 1 and Figure 6 The expansion and contraction driver 5 is fixed in the mounting groove 12 of the palm 1. The expansion and contraction driver 5 includes a corrugated elastic skeleton 51, a skin 52 wrapped around the outer periphery of the elastic skeleton 51, and four flexible connecting pieces 53 connected to the upper surface of the elastic skeleton 51. The skin 52 and the elastic skeleton 51 form a sealed cavity therebetween, and the sealed cavity is provided with an air pipe 54 communicating with an external air extraction device. The elastic skeleton 51 is supported in the mounting groove 12 in the vertical direction, and the wave peak position of the elastic skeleton 51 is provided with a skeleton connecting hole 55, and the four flexible connecting pieces 53 are connected to the wave peak position of the elastic skeleton 51 by bolts.

[0050] The elastic skeleton 51 is connected by a plurality of PLA material plates, the skin 52 is a cylindrical PVC film, and in order to communicate the cavities between the plates, a communication hole 56 is formed on each plate. The flexible connecting piece 53 includes an elastic rod 531 and a connecting sleeve 532 connected to the upper end of the elastic rod 531. The upper end of the palm 1 is provided with four finger mounting seats 11, and the first finger base 25 of the finger driver 2 is provided with a mounting hole 252, and the side wall of the mounting hole 252 is provided with a slot 253. The elastic rod 531 passes through the slot, the inner hole of the connecting sleeve 532 is connected to the corresponding finger mounting seat 11 through a rotating bearing, and the outer circular surface of the connecting sleeve 532 is fixedly connected to the mounting hole 252 of the first finger base 25. Thus, by applying negative pressure to the sealed cavity through the air pipe 54, the elastic skeleton 51 can be contracted, and the flexible connecting piece 53 can be moved transversely, thereby driving the finger driver 2 to rotate around the rotating bearing 3, and the four-finger expansion and contraction function with a large motion range is reproduced, while the stability of control is ensured.

[0051] ReferenceFigures 1 to 6 The working principle and process of this embodiment are as follows:

[0052] When the finger driver 2 needs to be bent, high-pressure air is filled into the first fabric driver 22 and the second fabric driver 24 simultaneously. The working process of the first fabric driver 22 is described below as an example.

[0053] After the high-pressure air enters the first fabric air bag 223, the first fabric air bag 223 expands under the restriction of the first fabric constraint layer 222, the cross section of the first fabric air bag 223 expands from an original oval shape to a circular shape, the thickness increases, the air bags of adjacent first fabric air bag accommodating cavities press each other, and the driving torque is formed between the two driving joints under the action of the first driver skeleton 221 to generate relative rotation. Meanwhile, because the finger driver 2 itself has a bending stiffness and the first reset spring wire 26 has a bending stiffness, a restoring torque is generated to hinder the bending when the finger driver 2 is bent, the restoring torque increases with the increase of the bending angle, until the driving torque and the restoring torque are balanced, thereby realizing the bending movement of the finger driver 2.

[0054] When the thumb driver 3 needs to be in the functional position, the wrist palm fabric air bag 413 is aerated, the wrist palm fabric air bag 413 expands to drive the concave mounting seat 411 to turn around the palm 1, and drives the thumb driver 3 to approach the palm center of the palm 1 and be in the functional position. The working principle of the thumb driver 3 is the same as that of the finger driver 2, which is not described in detail here.

[0055] When the finger driver 2 needs to be abducted, the sealed cavity of the abduction driver 5 is exhausted until a negative pressure cavity is formed. Because the bending stiffness of the elastic skeleton 51 at the wave peak is very low, the air chamber walls formed by the elastic skeleton 51 approach each other under the air pressure difference between the inside and outside of the sealed cavity and the tension of the skin 52, the abduction driver 5 shrinks transversely, drives the flexible connecting piece 43 to displace transversely, and drives the finger driver 2 to rotate around the rotating bearing, thereby completing the abduction movement. When the finger driver 2 needs to be adducted, air is filled into the sealed cavity of the abduction driver 5.

[0056] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A fabric-constrained rigid-flexible coupling bionic hand, characterized in that: It includes a palm and four finger actuators connected to the palm, a thumb actuator, a carpometacarpal joint and an extension and retraction actuator; The finger actuator includes a first fingertip stopper, a first fabric actuator, an interphalangeal joint, a second fabric actuator, a first finger base, and a first return spring wire; the first fingertip stopper, the first fabric actuator, the interphalangeal joint, the second fabric actuator, and the first finger base are connected in sequence; the two ends of the first return spring wire are respectively connected to the first fabric actuator and the second fabric actuator; the first fabric actuator and the second fabric actuator are capable of converting gas pressure into driving force to simulate the bending movement of the finger joint; the upper end of the first finger base is connected to the second fabric actuator, and the lower end is hinged to the palm; The thumb actuator can simulate the bending motion of the thumb; The carpometacarpal joint is arranged between the thumb actuator and the palm; the carpometacarpal joint can drive the thumb actuator to simulate the yaw motion of the thumb; The expansion and contraction actuator is arranged between the finger actuator and the palm; The extension and retraction driver can drive four finger drivers to simulate the extension and retraction movements of four fingers; The first fabric driver includes a first driver frame, a first fabric restraint layer and a first fabric airbag; the first fabric restraint layer is connected to the front surface of the first driver frame and forms a plurality of first fabric airbag accommodating cavities arranged side by side in an upper and lower manner, and the first fabric airbag accommodating cavities are cavities that pass through from left to right; the first fabric airbag is a cylindrical nylon TPU coated cloth; after being folded, the first fabric airbag is inserted into each first fabric airbag accommodating cavity in a serpentine shape in sequence; the first fabric airbag is provided with a first air inlet pipe for connecting to an air source.

2. The fabric-constrained rigid-flexible coupling bionic hand according to claim 1, characterized in that: The first fabric constraint layer is cut from a whole plain nylon fabric belt; the first driver frame includes a first connecting plate, a second connecting plate and a plurality of intermediate plates arranged between the first connecting plate and the second connecting plate; the plurality of intermediate plates are arranged equidistantly; the first connecting plate, the second connecting plate and the intermediate plate are all provided with first long holes; the first fabric constraint layer is sequentially inserted into the first long holes and its two ends are fixedly connected to the first connecting plate and the second connecting plate; an internode cover plate is provided at the mouth of the first long hole; the internode cover plate presses the first fabric constraint layer tightly against the first driver frame.

3. The fabric-constrained rigid-flexible coupling bionic hand according to claim 2, characterized in that: The second fabric driver has the same structure as the first fabric driver, and the length of the second fabric driver is smaller than that of the first fabric driver.

4. The fabric-constrained rigid-flexible coupling bionic hand according to claim 3, characterized in that: There are two first reset spring wires; grooves are provided on both sides of the rear surface of the first driver frame of the first fabric driver and on both sides of the rear surface of the second driver frame of the second fabric driver; the middle section of the first reset spring wire is embedded in the groove, and the two ends are respectively connected to the first driver frame and the second driver frame.

5. The fabric-constrained rigid-flexible coupling bionic hand according to claim 4, characterized in that: The palm is provided with a mounting slot; the expansion and contraction driver comprises a wavy elastic frame, a skin wrapped around the outer periphery of the elastic frame and four flexible connectors connected to the elastic frame; the flexible connector comprises an elastic rod and a connecting sleeve connected to the upper end of the elastic rod; the upper end of the palm is provided with four finger mounting seats; the first finger base of the finger driver is provided with a mounting hole; the side wall of the mounting hole is provided with a slot; the elastic rod passes through the slot; the inner hole of the connecting sleeve is connected to the corresponding finger mounting seat through a rotating bearing, and the outer cylindrical surface is fixedly connected to the mounting hole of the first finger base.

6. The fabric-constrained rigid-flexible coupling bionic hand according to claim 5, characterized in that: A sealed cavity is formed between the skin and the elastic frame; an air pipe connected to an external air extraction device is provided on the sealed cavity.

7. The fabric-constrained rigid-flexible coupling bionic hand according to claim 6, characterized in that: The thumb actuator includes a second fingertip stopper, two third fabric actuators, a second interphalangeal joint, and a second finger base; the second interphalangeal joint is located between the two third fabric actuators; the second fingertip stopper and the second finger base are respectively located at the ends of the corresponding two third fabric actuators; the third fabric actuator has the same structure as the first fabric actuator, and the length of the third fabric actuator is less than that of the first fabric actuator; The rear end of the second finger base is slidably connected to the palm through the carpometacarpal joint.

8. The fabric-constrained rigid-flexible coupling bionic hand according to claim 7, characterized in that: The wrist-palm joint includes a wrist-palm fabric driver and a connecting base; the wrist-palm fabric driver includes a concave mounting seat and a wrist-palm fabric constraint layer and a wrist-palm fabric airbag arranged in the concave mounting seat; a notch is provided on the side of the palm close to the thumb driver; the size of the concave mounting seat is adapted to the size of the notch, and the end of the concave mounting seat away from the thumb driver is connected to the side wall of the notch; a plurality of second elongated holes are provided at the bottom of the concave mounting seat; the wrist-palm fabric constraint layer has the same structure as the first fabric constraint layer; the wrist-palm fabric airbag has the same structure as the first fabric airbag; the wrist-palm fabric constraint layer is sequentially inserted into the second elongated holes and its two ends are fixedly connected to the concave mounting seat to form a plurality of wrist-palm fabric airbag accommodating cavities, and the wrist-palm fabric airbag is folded and serpentinely inserted into each wrist-palm fabric airbag accommodating cavity; a second air inlet pipe for connecting to an air source is provided on the wrist-palm fabric airbag; one end of the connecting base is connected to the concave mounting seat, and the other end is slidably connected to the second finger base of the thumb driver.

9. The fabric-constrained rigid-flexible coupling bionic hand according to claim 8, characterized in that: The connecting base is a triangular block; the large end of the connecting base is fixedly connected to the concave shape, and the small end is provided with a base connecting hole; a slide groove is provided on the second finger base of the thumb driver; the bolt passes through the base connecting hole and the slide groove in sequence and is connected with the nut.

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