Bionic prosthetic hand

Abstract

The application discloses a bionic artificial hand, which comprises a palm part, a thumb part, four finger parts and a pneumatic control system. The thumb part comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate by a first pneumatic device, and the thumb is internally provided with a first cavity unit in series; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing by a second pneumatic device. Each finger of the four finger parts is internally provided with a second cavity unit in series, and each finger is hinged to the palm part through a third hinge shaft and is driven to independently swing by a third pneumatic device. The pneumatic control system is arranged in the artificial hand and is used for controlling the air intake and exhaust of each cavity unit and pneumatic device. The bionic artificial hand adopts a two-degree-of-freedom design of thumb metacarpal rotation and thumb swinging, combines with pneumatic device driving, realizes flexible movement of the thumb, and improves the coordination and fine operation ability of the artificial hand.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bionic artificial hand, and particularly relates to a bionic artificial hand. BACKGROUND

[0002] As a cross field of bionics and robotics, bionic hand aims to imitate the structure and function of human hand to achieve highly flexible and delicate operation capability. In recent years, with the progress of technology, pneumatic soft artificial hand has gained wide attention in this field due to its simple structure, light weight and large output power. Compared with traditional electric or hydraulic drive systems, pneumatic driver realizes the movement of artificial hand by controlling the change of air pressure, which not only makes the overall weight lighter, but also simplifies the system structure.

[0003] However, the existing pneumatic artificial hand still has the following problems in the structural design:

[0004] Insufficient freedom of thumb movement: the existing pneumatic artificial hand usually adopts a simple single-axis rotation structure for the design of the thumb, which is difficult to realize the complex movement similar to the human thumb. This design leads to the fact that the thumb can only perform a simple opposition action and cannot complete complex gripping postures such as pinching and lateral gripping. Especially when fine operation is required, due to the lack of independent movement ability of the metacarpophalangeal joint and the interphalangeal joint, it is difficult to adapt to different gripping requirements.

[0005] Single finger driving structure: the finger structure of traditional pneumatic artificial hand usually adopts a single air cavity design, and the whole finger bends as a whole. This structure leads to the fact that the finger lacks flexibility when moving and cannot realize segmented bending action. At the same time, the connection mode of the finger and the palm is simple, which can only realize simple flexion and extension movement and lacks independent swinging ability, limiting the gripping freedom of the artificial hand.

[0006] Therefore, it is urgent to develop a pneumatic artificial hand with a multi-degree-of-freedom thumb structure and a flexible finger driving mechanism. It is particularly important to solve the coordination between the metacarpophalangeal joint movement of the thumb and the interphalangeal bending, as well as the segmented bending and independent swinging ability of the finger, so as to improve the flexibility and adaptability of the artificial hand. SUMMARY

[0007] The purpose of the present application is to solve the above problems, and to provide a bionic artificial hand, which aims to solve the technical problems of insufficient freedom of thumb movement and poor flexibility of finger driving in the prior art.

[0008] To achieve the above purpose, the technical scheme adopted by the present application is as follows: a bionic artificial hand, comprising:

[0009] a palm part constituting the base of the bionic artificial hand;

[0010] The thumb part includes a thumb metacarpal bone and a thumb, the thumb metacarpal bone is hinged on the palm part through a first hinge shaft and is driven to rotate around the first hinge shaft by a first pneumatic device; the thumb is internally provided with a plurality of first cavity units connected in series along the length direction of the thumb, adjacent first cavity units are communicated through through holes, and the first cavity units are used to drive the thumb to bend when inflated; the thumb is hinged on the thumb metacarpal bone through a second hinge shaft and is driven to swing around the second hinge shaft by a second pneumatic device;

[0011] The four-finger part includes four fingers, each finger is internally provided with a plurality of second cavity units connected in series along the length direction of the finger, adjacent second cavity units are communicated through through holes, and the second cavity units are used to drive the corresponding finger to bend when inflated; the four fingers are respectively hinged on the palm part through corresponding third hinge shafts, and each finger is respectively driven by a corresponding third pneumatic device to independently swing around the corresponding third hinge shaft;

[0012] The pneumatic control system is arranged in the bionic artificial hand and is used for controlling the inflation and deflation of the first cavity units, the second cavity units, the first pneumatic device, the second pneumatic device and the third pneumatic device.

[0013] In a possible embodiment, a plurality of inter-slot grooves are arranged on the finger pulp surface of each finger of the thumb and four-finger part, the inter-slot grooves divide the finger pulp of each finger into a plurality of sections, and one first cavity unit or second cavity unit is arranged in each section; the back surface of the thumb is provided with two cut grooves corresponding to the positions of the real finger interphalangeal joint and metacarpophalangeal joint, and the back surface of each finger of the four-finger part is provided with three cut grooves corresponding to the positions of the real finger distal interphalangeal joint, proximal interphalangeal joint and metacarpophalangeal joint.

[0014] In a possible embodiment, a first hinge seat is fixedly arranged on the palm part at the position corresponding to each finger, and each finger of the four-finger part is hinged on the corresponding first hinge seat through a corresponding third hinge shaft; the third pneumatic device includes a first pneumatic muscle and a second pneumatic muscle, one end of the first pneumatic muscle and one end of the second pneumatic muscle are respectively connected to the two sides of the bottom of the first hinge seat, and the other end is connected to the palm part, for driving the corresponding finger to swing around the third hinge shaft by inflation and deflation.

[0015] In a possible embodiment, a second hinge seat is arranged on the root of the thumb, and the second hinge shaft is arranged on the second hinge seat; the second pneumatic device is a third pneumatic muscle, one end of the third pneumatic muscle is connected to the thumb metacarpal bone, and the other end is connected to the second hinge seat, and the third pneumatic muscle drives the thumb to swing around the second hinge shaft by inflation and deflation.

[0016] In a possible embodiment, the first pneumatic device comprises a fourth pneumatic muscle and a fifth pneumatic muscle, which are arranged in the palm portion, one end of each of the fourth and fifth pneumatic muscles is fixed to the inner wall of the palm portion, and the other end is connected to the thumb metacarpal bone through an elastic member, and the first pneumatic device drives the thumb metacarpal bone to rotate around the first hinge shaft by charging and discharging air.

[0017] In a possible embodiment, the connection position of the thumb metacarpal bone and the palm portion is provided with a reset torsion spring.

[0018] In a possible embodiment, the elastic member is a spring or an elastic rope.

[0019] In a possible embodiment, the thumb and the four fingers of the four-finger portion are each an integral piece made of flexible material.

[0020] In a possible embodiment, the pneumatic control system comprises:

[0021] a gas pump and a gas storage tank, the gas pump delivering compressed air to the gas storage tank;

[0022] an air inlet valve connected to the air outlet end of the gas storage tank;

[0023] a multi-way valve, the air inlet end of which is connected to the air inlet valve;

[0024] a plurality of proportional valves connected to the multi-way valve, each of the proportional valves being connected to a corresponding actuating element; wherein the actuating element comprises the first cavity unit, the second cavity unit, the first pneumatic device, the second pneumatic device and the third pneumatic device;

[0025] a plurality of exhaust throttling valves, each of the exhaust throttling valves being connected to a corresponding proportional valve;

[0026] a recovery gas tank connected to the air outlet end of each of the exhaust throttling valves and connected to the multi-way valve;

[0027] a control module electrically connected to the gas pump, the air inlet valve, the multi-way valve and each of the proportional valves, for controlling the operation of the entire pneumatic system;

[0028] a plurality of pressure sensors arranged at the fingertips and the fingerpads of the fingers, for detecting the pressure of the fingertips and the fingerpads and transmitting the detection signals to the control module, and the control module controls the charging and discharging of the corresponding actuating element according to the pressure signals to adjust the gripping force of the prosthetic hand.

[0029] In some embodiments, the control method of the above-mentioned pneumatic control system comprises:

[0030] the gas pump is started and compressed air is charged into the gas storage tank until a preset working pressure is reached;

[0031] According to the set target gripping force, the initial air pressure value required by each actuator is determined, and the multi-way valve and the proportional valve are controlled to charge the compressed air in the air tank into the corresponding actuator;

[0032] The pressure sensor detects the pressure of each finger tip in real time and transmits the pressure signal to the control module;

[0033] The control module dynamically adjusts the opening degree of each proportional valve according to the pressure signal to control the air pressure entering the actuator to maintain the target gripping force;

[0034] When it is detected that the air pressure exceeds the preset upper threshold, the corresponding exhaust throttle valve is opened to exhaust the excess gas into the recovery tank;

[0035] When it is detected that the finger tip pressure is lower than the preset lower threshold, the exhaust throttle valve is closed, and the gas in the storage tank is supplemented through the multi-way valve;

[0036] After receiving the gripping end signal, the gas in each actuator is recovered to the recovery tank through the exhaust throttle valve.

[0037] The beneficial effects of the present application are:

[0038] 1. The two-degree-of-freedom design of thumb metacarpal rotation and thumb swing is combined with the driving of the pneumatic device to realize flexible movement of the thumb, making the coordinated movement between the thumb and other fingers more closely and efficiently, and significantly improving the coordination and fine operation ability of the prosthetic hand.

[0039] 2. By designing multiple series of cavity units in the fingers and combining with the slot design on the back of the fingers, the fingers can realize natural bending action similar to human hands under the driving of air pressure, improving flexibility and gripping precision, and enhancing the adaptability of the fingers to complex-shaped objects.

[0040] 3. The independent hinge seat and pneumatic muscle driving structure are designed, so that each finger can swing independently, expanding the movement degree of freedom of the prosthetic hand and improving the diversity of the gripping posture.

[0041] 4. Through the reasonable design of the pneumatic system such as air pump, air tank, multi-way valve and proportional valve, accurate control of the movement of the prosthetic hand is realized.

[0042] 5. The pressure sensor and the control module are set to monitor and adjust the finger tip pressure in real time, realize accurate control of the gripping force, and improve the stability of the operation.

[0043] 6. The recovery tank design is adopted, the compressed air is recycled and reused, which significantly reduces the consumption of external air source, optimizes the system energy efficiency, and prolongs the endurance. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 A dorsal view of the prosthetic hand according to an embodiment of the present application.

[0045] Figure 2 A palmar view of the prosthetic hand according to an embodiment of the present application.

[0046] Figure 3 A cross-sectional view of one of the four fingers of the four-fingered part of the prosthetic hand according to an embodiment of the present application.

[0047] Figure 4 A cross-sectional view of the thumb of the thumb part of the prosthetic hand according to an embodiment of the present application.

[0048] Figure 5 A side view of the thumb part according to an embodiment of the present application.

[0049] Figure 6 A view of the connection between the thumb part and the palm part according to an embodiment of the present application.

[0050] Figure 7 A structural block diagram of the pneumatic system according to an embodiment of the present application.

[0051] Figure 8 A flow chart of the control method of the pneumatic system according to an embodiment of the present application.

[0052] The text annotations in the figures represent: 100, four-fingered part; 101, second cavity unit; 102, slot; 103, through hole; 104, cutting groove; 105, first hinge seat; 200, palm part; 300, thumb part; 310, thumb; 311, first cavity unit; 312, second hinge seat; 320, thumb metacarpal; 321, hinge lug; 400, pneumatic system; 401, air pump; 402, air tank; 403, inlet valve; 404, control module; 405, multi-way valve; 406, proportional valve; 407, exhaust throttle valve; 408, recovery air tank; 409, air pipe; 410, sensor; 411, first pneumatic muscle; 412, second pneumatic muscle; 413, fourth pneumatic muscle; 414, fifth pneumatic muscle; 415, third pneumatic muscle; 416, sixth pneumatic muscle; 417, seventh pneumatic muscle. DETAILED DESCRIPTION

[0053] In order to make the technical solution of the present application better understood by those skilled in the art, the present application will be described in detail below with reference to the accompanying drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present application.

[0054] REFERENCE Figure 1 AND Figure 2The embodiment aims to provide a bionic prosthetic hand, which comprises a thumb part 300, a four-finger part 100, a palm part 200 and a pneumatic system 400.

[0055] With reference to Figure 1 and Figure 6 The palm part 200 constitutes the base of the prosthetic hand and is designed in a hollow structure, in which a channel for arranging air paths is arranged.

[0056] With reference to Figure 1 , Figure 3 and Figure 6 The four-finger part 100 comprises four fingers, i.e. an index finger, a middle finger, a ring finger and a little finger, which are all made of flexible materials such as silica gel. Each finger is internally provided with a plurality of second cavity units 101 connected in series along the length direction of the finger, and adjacent second cavity units 101 are communicated through through holes 103. A plurality of interval grooves 102 are formed on the palm surface of each finger, which separate the palm into a plurality of sections, and each section is provided with a second cavity unit 101. Optionally, the transverse section of the second cavity unit 101 is fan-shaped, which drives the corresponding finger to bend when inflated.

[0057] With reference to Figure 3 In some embodiments, the back surface of each finger is provided with three cut grooves 104 corresponding to the positions of the distal interphalangeal joint, the proximal interphalangeal joint and the metacarpophalangeal joint of the real finger.

[0058] Specifically, in some possible embodiments, the shape of each finger of the four-finger part is the same, and contains 10 second cavity units 101 arranged at equal intervals, and each air cavity section can be fan-shaped, and the second cavity units 101 are communicated through the through holes 103. The bottom of each finger is thickened, and the cut grooves 104 are arranged at the joint positions of the finger bottom of the four-finger part. In the embodiment, the number of cut grooves 104 is three, and the three cut grooves 104 are at the gaps of the second cavity units 101. In the embodiment, the 10 cavity units are divided into three finger joints. Since the cavity units are connected through the through holes 103, only one air pump is needed to drive the whole finger to move. Specifically, when the second cavity units 101 are filled with gas, each cavity unit will gradually expand, and the thickened layer at the bottom of the second cavity unit 101 will deform less, and the whole finger will bend towards the thickened layer. The bending amplitude will be larger at the cut groove due to the thinner wall. This design makes the finger more flexible and accurate when grasping and manipulating objects.

[0059] With reference to Figure 6, the palm part 200 is respectively provided with a first hinge seat 105 corresponding to each finger, and each finger of the four-finger part 100 is hinged to the corresponding first hinge seat 105 through a corresponding third hinge shaft. The third pneumatic device includes a first pneumatic muscle 411 and a second pneumatic muscle 412, one end of the first pneumatic muscle 411 and the second pneumatic muscle 412 is respectively connected to the bottom of the two sides of the first hinge seat 105 (the left and right sides, Figure 6 both sides of the center line a), and the other end is connected to the palm part 200, and the corresponding finger is driven to swing around the third hinge shaft by charging and discharging air. Optionally, the first pneumatic muscle 411 and the second pneumatic muscle 412 are both GRACE-A (Geometric Rotationally Actuated Contra

[0060] ctible Elastomer-Artificial, geometric rotationally actuated retractable elastomer artificial muscle) type pneumatic muscles.

[0061] In specific implementation, when the fingers of the four-finger part 100 need to swing left and right, one side of the pneumatic muscle is inflated, and the other side of the pneumatic muscle is kept relaxed or controlled to release gas, and the cooperation of the inflation and contraction drives the first hinge seat 105 connected to the four-finger root part to swing, thereby generating a left-right direction tilt action. By controlling the charging and discharging amount of gas, the tilt angle of the finger can be adjusted to achieve precise swinging.

[0062] Reference Figures 1-6 In some possible embodiments, the thumb part 300 includes a thumb metacarpal bone 320 and a thumb 310. The connection between the thumb metacarpal bone 320 and the palm part 200 is provided with a hinge lug 321, and a connecting seat is arranged at the corresponding position of the palm part 200. The hinge lug 321 is hinged to the connecting seat on the palm part 200 through a first hinge shaft. In some possible embodiments, a torsional spring is connected at the connection position of the hinge lug 321 and the connecting seat, and the torsional spring is used to keep the thumb metacarpal bone 320 and the palm part 200 in an extended state.

[0063] In some embodiments, the first pneumatic device includes a fourth pneumatic muscle 413 and a fifth pneumatic muscle 414, and the two pneumatic muscles are arranged in the palm part 200 in an up-down direction. One end of the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 is fixed on an internal support of the palm part 200, and the other end is connected to the thumb metacarpal bone 320 through an elastic element 418. Optionally, a pulley is fixedly arranged on the thumb metacarpal bone 320, the elastic element 418 is wound around the pulley, and the two ends of the elastic element 418 are respectively connected to the inner ends of the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414.

[0064] Optionally, the elastic element 418 is a spring or an elastic rope.

[0065] Optionally, the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 are both GRACE-A type pneumatic muscles.

[0066] When the thumb metacarpal 320 needs to be closed towards the palm, the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 are inflated to shorten the contraction length, and the contraction force is transmitted to the thumb metacarpal through the elastic member 418, so that the hinge lug 321 of the thumb metacarpal rotates at the hinge and drives the thumb metacarpal to move towards the palm, cooperates with the four fingers of the four-finger part to form a gripping action, and realizes stable clamping of the target object. When the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 are deflated to elongate, the torsional spring drives the thumb metacarpal 320 to move in the extension direction, so that it gradually returns to the neutral position, realizing the reset of the thumb metacarpal 320.

[0067] Reference Figure 4 The thumb 310 is provided with a plurality of first cavity units 311 connected in series along the length direction of the thumb, and adjacent first cavity units 311 are communicated through through holes. A plurality of interval grooves are formed on the palm surface of the thumb 310, which separate the palm into a plurality of sections, and each section is provided with a first cavity unit 311. The back surface of the thumb 310 is provided with two cut grooves corresponding to the positions of the interphalangeal joint and the metacarpophalangeal joint. In some embodiments, the thumb 310 contains 7 first cavity units 311, and each cavity unit has the same cross section as the four fingers. The first cavity unit 311 drives the thumb 310 to bend when inflated.

[0068] Reference Figure 2 and Figure 4 In some embodiments, the bending of the thumb 310 is achieved by supplying air to each first cavity unit 311 in the thumb 310, and the material of the thumb is an elastic material. When the first cavity unit 311 is inflated, it expands and generates tension, which pushes the thumb to bend. After the task is completed, the air pressure starts to release, and the gas in the first cavity unit 311 gradually discharges, and the thumb can automatically reset after deformation due to the use of elastic material such as silicone material.

[0069] Reference Figure 6 The thumb 310 is hinged to the thumb metacarpal 320 through a second hinge shaft, and the second hinge shaft is arranged on a second hinge seat 312 arranged at the root of the thumb 310. The second pneumatic device is a third pneumatic muscle 415, one end of which is connected with the thumb metacarpal 320, and the other end is connected with the second hinge seat 312.

[0070] Optionally, the third pneumatic muscle 415 is designed based on PneuNet. When the third pneumatic muscle 415 is inflated, the thumb swings to one side around its hinge axis; when the third pneumatic muscle 415 is deflated, the thumb swings to the other side around its hinge axis.

[0071] Further, with reference to Figure 5 and Figure 6 In some possible embodiments, a fourth pneumatic device is further arranged at the joint between the thumb metacarpal 320 and the palm part 200, which is used to assist the left and right swinging of the thumb. The fourth pneumatic device includes two GRACE-A pneumatic muscles (a sixth pneumatic muscle 416 and a seventh pneumatic muscle 417). The sixth pneumatic muscle 416 and the seventh pneumatic muscle 417 are connected with the second hinge seat 312 through connecting rods, respectively. When the sixth pneumatic muscle 416 is inflated, the connecting rod system transmits the inflation force to the second hinge seat 312, causing the connecting rod to stretch forward, the connecting rod connection keeps the angle unchanged, the hinge and the pivot connection keep the angle of the finger root together, and the thumb 310 is moved towards the four fingers. At the same time, the seventh pneumatic muscle 417 remains relaxed, ensuring smooth and interference-free tilting. If the thumb 310 needs to tilt to the other side, the seventh pneumatic muscle 417 is inflated, and the gas in the sixth pneumatic muscle 416 is released at the same time. This reverse driving causes the second hinge seat 312 to tilt to the other side, completing the left and right swinging action. This inflation and contraction cooperatively drive the second hinge seat 312 connected to the thumb root to swing, generating a left and right tilting action, and through the action of the fourth pneumatic device, more precise control of the thumb can be achieved.

[0072] With reference to Figure 7 In some possible embodiments, the pneumatic control system 400 of the bionic prosthetic hand includes:

[0073] The air pump 401 is used to generate compressed air.

[0074] The air tank 402 is connected with the air outlet end of the air pump 401, and is used to store compressed air.

[0075] The air inlet valve 403 is arranged at the air outlet end of the air tank 402, and is connected with the multi-way valve 405 through a main pipeline.

[0076] The control module 404 is electrically connected with the air pump 401, the air inlet valve 403, the multi-way valve 405 and each proportional valve 406, and is used to control the operation of the entire pneumatic system.

[0077] The multi-way valve 405 is connected with the air inlet valve 403 at the air inlet end, and is used to distribute the compressed air in the air tank 402 to the plurality of proportional valves 406 connected therewith.

[0078] A plurality of proportional valves 406 are connected to the multi-way valve 405 through the air pipe 409, and each proportional valve 406 is connected to a corresponding actuator for precisely controlling the air pressure entering the actuator. The actuators include:

[0079] A plurality of first cavity units 311 are arranged in the thumb;

[0080] A plurality of second cavity units 101 are arranged in the four fingers;

[0081] A first pneumatic device (fourth pneumatic muscle 413 and fifth pneumatic muscle 414) for driving the rotation of the thumb metacarpal bone;

[0082] A second pneumatic device (third pneumatic muscle 415) for driving the swing of the thumb;

[0083] A third pneumatic device (first pneumatic muscle 411 and second pneumatic muscle 412) for driving the swing of the four fingers;

[0084] A plurality of exhaust throttles 407, each exhaust throttle 407 is connected to a corresponding proportional valve 406 for controlling the exhaust speed of the actuator;

[0085] A recovery gas tank 408 is connected to the gas outlet end of each exhaust throttle 407 and connected to the multi-way valve 405 for collecting the exhaust gas and realizing the recycling of the gas;

[0086] A plurality of pressure sensors 410 are arranged at the fingertips and the finger pads of each finger for real-time detection of the fingertip pressure and transmission of the pressure signal to the control module 404, and the control module 404 controls the charging and discharging of the corresponding actuator according to the pressure signal to adjust the gripping force of the prosthetic hand.

[0087] Reference Figure 8 When the control method of the pneumatic control system provided by the embodiment is provided, the following steps are included:

[0088] S100: System initialization step: start the air pump 401 and charge the gas tank 402. The control module 404 starts the air pump and delivers compressed air to the gas tank 402. The air enters each actuator through the air pipe 409, and the air flow and pressure are adjusted by the control module 404. The pressure sensor 410 monitors the air pressure in the air pipe 409 in real time to ensure uniform air supply and maintain it within a suitable range.

[0089] S200: Initial driving step: determine the initial air pressure value according to the target gripping force, deliver the compressed air in the gas tank 402 to the corresponding actuator through the control of the multi-way valve 405 and the plurality of proportional valves 406, so that the air pressure in each actuator reaches the initial air pressure value, to drive the four fingers and the thumb to move.

[0090] S210: The movement of the four fingers mainly includes:

[0091] S211: The four fingers are bent, and the specific steps include:

[0092] The control module 404 gradually increases the air pressure of the four fingers to 0.18 MPa;

[0093] The pressure sensor 410 feeds back the air pressure data to ensure that the pressure rises uniformly according to the control curve;

[0094] The second cavity unit 101 is inflated one by one, and the natural bending is realized in combination with the inter-slot design;

[0095] After reaching the target pressure, a natural gripping posture is formed.

[0096] S212: The four fingers are stretched, and the specific steps include:

[0097] The control module 404 controls the proportional valve 406 to open the exhaust path;

[0098] The air pressure in the second cavity unit 101 is gradually released;

[0099] The stable rebound is realized under the action of material elasticity;

[0100] Through the pressure sensor 410 monitoring, it is ensured that the stretching process is stable.

[0101] S213: The four fingers are swung, and the specific steps include:

[0102] The first pneumatic muscle 411 and the second pneumatic muscle 412 are controlled to be alternately filled and exhausted;

[0103] The accurate swing angle is realized through air pressure control;

[0104] It is ensured that the left and right swing actions are stable and coordinated.

[0105] S220: The movement of the thumb part 300 mainly includes:

[0106] S221: The thumb is closed to the palm, and the specific steps include:

[0107] The fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 are controlled to be inflated and contracted;

[0108] The force is transmitted to the thumb metacarpal bone 320 through the elastic member 418;

[0109] The first cavity unit 311 is synchronously inflated to realize bending;

[0110] The gripping posture is formed in cooperation with the four fingers.

[0111] S222: The thumb is stretched:

[0112] Control the fourth pneumatic muscle 413 and the fifth pneumatic muscle 414 to exhaust and drive the thumb metacarpal abduction by the torsional spring;

[0113] The first cavity unit 311 is reset by the torsional spring after exhausting.

[0114] S223: Synergistic movement:

[0115] Adjust the air pressure of each pneumatic muscle according to the gripping demand;

[0116] Realize the coordination of the thumb and the four fingers.

[0117] S300: Pressure monitoring step: the pressure sensor 410 continuously detects the fingertip pressure and feeds back the pressure signal to the control module 404 in real time.

[0118] S400: Pressure adjustment step: the control module 404 dynamically adjusts the air pressure of each execution element through the multi-way valve 405 and the proportional valve 406 according to the pressure feedback signal.

[0119] S500: Energy recovery step: when the air pressure exceeds the preset threshold value (set as 80% to 95% of the target gripping force), the excess gas (50% to 90% of the overpressure part) is discharged into the recovery gas tank 408 through the exhaust throttle valve 407.

[0120] S600: Pressure supplement step: when the fingertip pressure is lower than the preset threshold value, the gas in the recovery gas tank 408 is preferentially used to supplement the corresponding execution element through the multi-way valve 405.

[0121] S700: Action end step: after the gripping is finished, the remaining gas in each execution element is sequentially discharged into the recovery gas tank 408.

[0122] It should be noted that in this text, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0123] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea. The above description is only the preferred implementation manner of the present application, and it should be noted that, due to the limited expression of the text, there are objectively infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, refinements or changes can be made without departing from the principles of the present application, and the above technical features can also be combined in an appropriate manner; the improvements, refinements, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, shall be regarded as the protection scope of the present application.

Claims

1. A bionic prosthetic hand, characterized in that, The application relates to a bionic artificial hand, which comprises: a palm part, which constitutes a base of the bionic artificial hand; a thumb part, which comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate around the first hinge shaft by a first pneumatic device; the thumb is internally provided with a plurality of first cavity units which are connected in series along the length direction of the thumb, adjacent first cavity units are connected through through holes, and the first cavity units are used for driving the thumb to bend when being inflated; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing around the second hinge shaft by a second pneumatic device; a four-finger part, which comprises four fingers, each finger is internally provided with a plurality of second cavity units which are connected in series along the length direction of the finger, adjacent second cavity units are connected through through holes, and the second cavity units are used for driving the corresponding finger to bend when being inflated; the four fingers are respectively hinged to the palm part through corresponding third hinge shafts, and each finger is driven to independently swing around the corresponding third hinge shaft by a corresponding third pneumatic device; a pneumatic control system, which is arranged in the bionic artificial hand and is used for controlling the inflation and deflation of the first cavity units, the second cavity units, the first pneumatic device, the second pneumatic device and the third pneumatic device; the pneumatic control system comprises: a multi-way valve, whose air inlet end is connected with an air inlet valve; a plurality of proportional valves, which are connected with the multi-way valve, and each proportional valve is connected with a corresponding execution element; wherein the execution element comprises the first cavity units, the second cavity units, the first pneumatic device, the second pneumatic device and the third pneumatic device; a plurality of exhaust throttles, each exhaust throttle is connected with a corresponding proportional valve; a recovery gas tank, which is connected with the air outlet ends of the exhaust throttles and is connected with the multi-way valve, and is used for recovering the gas discharged by the execution element.

2. The bionic prosthetic hand according to claim 1, characterized in that A plurality of interval grooves are arranged on the finger pulp surfaces of the thumb and the fingers of the four-finger part, the interval grooves divide the finger pulp of each finger into a plurality of sections, and one first cavity unit or second cavity unit is arranged in each section; the back surface of the thumb is provided with two cut grooves corresponding to the positions of the interphalangeal joint and the metacarpophalangeal joint, and the back surfaces of the fingers of the four-finger part are each provided with three cut grooves corresponding to the positions of the distal interphalangeal joint, the proximal interphalangeal joint and the metacarpophalangeal joint.

3. The bionic prosthetic hand according to claim 1, characterized in that A first hinge seat is fixedly arranged on the palm part at the position corresponding to each finger, and each finger of the four-finger part is hinged to the corresponding first hinge seat through the corresponding third hinge shaft; the third pneumatic device comprises a first pneumatic muscle and a second pneumatic muscle, one end of the first pneumatic muscle and one end of the second pneumatic muscle are respectively connected with the two sides of the bottom of the first hinge seat, and the other ends are connected with the palm part, so as to drive the corresponding finger to swing around the third hinge shaft through inflation and deflation.

4. The bionic prosthetic hand according to claim 1, characterized in that A second hinge seat is arranged at the root of the thumb, and the second hinge shaft is arranged on the second hinge seat; the second pneumatic device is a third pneumatic muscle, one end of the third pneumatic muscle is connected with the thumb metacarpal, and the other end is connected with the second hinge seat, so as to drive the thumb to swing around the second hinge shaft through inflation and deflation.

5. The bionic prosthetic hand according to claim 1, characterized in that The first pneumatic device comprises a fourth pneumatic muscle and a fifth pneumatic muscle, which are arranged in the palm part, one end of each of the fourth and fifth pneumatic muscles is fixed on the inner wall of the palm part, and the other end is connected with the thumb metacarpal through an elastic member, and the first pneumatic device drives the thumb metacarpal to rotate around the first hinge shaft through air charging and discharging.

6. The bionic prosthetic hand according to claim 5, characterized in that The connection position of the thumb metacarpal and the palm part is provided with a reset torsion spring.

7. The bionic prosthetic hand according to claim 5, characterized in that The elastic member is a spring or an elastic rope.

8. The bionic prosthetic hand according to any one of claims 1-7, characterized in that The four fingers of the thumb and four fingers part are integrally made of flexible material.

9. The bionic prosthetic hand according to any one of claims 1-7, characterized in that, The pneumatic control system further comprises: an air pump and an air storage tank, the air pump delivers compressed air to the air storage tank; an air inlet valve connected with the air outlet end of the air storage tank; a control module electrically connected with the air pump, the air inlet valve, the multi-way valve and each proportional valve, for controlling the operation of the whole pneumatic system; a plurality of pressure sensors arranged at the finger tips and finger pads of each finger, for detecting the finger tip and finger pad pressure and transmitting the detection signal to the control module, and the control module controls the air charging and discharging of the corresponding execution element according to the pressure signal to adjust the gripping force of the artificial hand.

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