Wrist of bionic hand and bionic hand

Abstract

The wrist part of the bionic hand comprises a mounting seat, the mounting seat is cylindrical and comprises an open end and a mounting end which are oppositely arranged, the mounting end is used for being connected with a hand part of the bionic hand, the open end is used for being connected with an arm part of the bionic hand, and the mounting end extends from the inner wall to the center to be provided with a check ring; a through hole is formed in the center of the check ring, one end of the conductive column is connected with the check ring and used for abutting against the hand, the other end of the conductive column stretches into the installation base through the through hole, the conductive support is provided with a leading-in end and a connecting end, and the other end of the conductive column stretches into the leading-in end. The contact section is inserted into the inner wall of the conductive support from the outer wall of the conductive support to be in contact with the conductive column, the connecting section is exposed out of the outer wall of the conductive support, the shell is sleeved with the conductive support, and the inner wall of the shell is in contact with the connecting section of the conductive wire.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic limbs, and particularly to a wrist part of a bionic hand and a bionic hand. Background Art

[0002] As a key component connecting the hand and the main structure in a mechanical system, the wrist part of a bionic hand directly affects the operation efficiency and accuracy of the robotic arm, and is decisive for the realization of the overall system function.

[0003] Currently, the wrist parts of common bionic hands on the market generally include two major parts: a base and a connecting member. The base is used for firmly connecting with the main structure of the robotic arm, and the connecting member is responsible for installing and fixing various hands. To meet the requirements of complex working environments, modern wrist connection components are generally set to have the ability of multi-degree-of-freedom movement, including functions such as rotation, flexion and extension, and lateral bending, so as to simulate the natural movement range of the human wrist, and thus be able to complete fine and complex operation tasks.

[0004] However, after the wrist part of the bionic hand is assembled with the hand, it is still necessary to separately connect external interfaces such as power supply cables and communication cables, resulting in possible winding and binding of the cables during the movement of the robotic arm, which limits the movement range and operation flexibility of the robotic arm. Summary of the Invention

[0005] The main object of the present invention is to propose a wrist part of a bionic hand, aiming to solve the problem that after the wrist part of the bionic hand is assembled with the hand, the connecting cables limit the movement range and flexibility of the robotic arm.

[0006] To achieve the above object, the present invention proposes a wrist part of a bionic hand, which includes: A mounting seat, the mounting seat is arranged in a cylindrical shape, including an open end and a mounting end arranged opposite to each other. The mounting end is used for connecting the hand of the bionic hand, the open end is used for connecting the arm of the bionic hand, a retaining ring extends from the inner wall to the center at the mounting end, and a through hole is formed in the center of the retaining ring; A conductive column, one end of the conductive column is connected to the retaining ring and is used for abutting against the hand, and the other end extends into the mounting seat through the through hole; A conductive bracket, the conductive bracket is provided with an introducing end and a connecting end, and the introducing end is used for the other end of the conductive column to extend into; A conductive wire, the conductive wire includes a contact section and a connecting section. The contact section is inserted from the outer wall of the conductive bracket into the inner wall of the conductive bracket to contact the conductive column, and the connecting section is exposed on the outer wall of the conductive bracket; A housing, the housing is sleeved on the conductive bracket, and the inner wall of the housing contacts the connecting section of the conductive wire.

[0007] In some embodiments, a counterbore is formed on the side of the retaining ring facing the hand. The conductive post includes a column body and a conductive disc provided at one end of the column body. The column body extends into the conductive bracket, and the conductive disc is connected to the counterbore.

[0008] In some embodiments, the conductive post further includes a connection end disposed opposite to the conductive disc. The connection end is closed, and a first screw through hole is provided in the middle. The housing is configured with a positioning end. After the housing is connected to the conductive post, the positioning end is in close contact with the connection end, and a second screw through hole is provided in the middle of the positioning end. The wrist of the bionic hand further includes a flange located at the open end for connecting to the arm portion, and the flange is provided with threaded connection holes.

[0009] In some embodiments, a wire harness tube protrudes from the outside of the positioning end toward the arm portion.

[0010] In some embodiments, the conductive wire is arranged in a U shape. The contact segments are distributed on two opposite sides of the U shape, and the connection segment connects the two contact segments. The conductive bracket is provided with multiple groups of mounting holes spaced along the axial direction. Each group of mounting holes includes two mounting holes corresponding to the two contact segments. The mounting holes penetrate the inner wall of the conductive bracket. After the contact segments pass through the mounting holes, part of them protrude from the inner wall of the conductive bracket to contact the column body.

[0011] In some embodiments, the conductive bracket includes a first bracket and a second bracket that are separately arranged. The first bracket is provided with multiple groups of mounting holes, and the second bracket is connected to the first bracket by screws.

[0012] In some embodiments, the first bracket is arranged in a semi-cylindrical shape. The outer surface of the first bracket has a flat portion adapted to the connection segment, and the mounting holes are located on both sides of the flat portion.

[0013] In some embodiments, a positioning pin is provided on the mounting surface of one of the first bracket and the second bracket, and a positioning hole is provided on the mounting surface of the other of the first bracket and the second bracket.

[0014] In some embodiments, the leading end of the conductive bracket has a taper.

[0015] The present invention further provides a bionic hand, including a hand portion and the wrist portion of the bionic hand as described in the foregoing embodiments.

[0016] The beneficial effects of the technical solution of the present invention are as follows: By providing conductive posts on the retaining ring of the mounting base, with one end of the conductive post extending towards the open end and the other end passing through the retaining ring to directly abut against the hand, and at the same time, a plurality of conductive wires provided on the inner wall of the conductive bracket are in contact with the conductive posts. After the mounting base and the hand are assembled, the conductive posts can be electrically connected to the hand, eliminating the need to separately connect external interfaces such as power supply cables and communication cables. After the conductive posts extend into the conductive bracket, they can directly contact and achieve electrical connection with the plurality of conductive wires, thereby realizing functions such as power supply and communication, and thus eliminating the problems of complex cable connection and cumbersome operation in the wrist part of traditional bionic hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a front view of the wrist part of a bionic hand in an embodiment of the present invention; Figure 2 is Figure 1 a schematic structural diagram of a sectional view taken along A-A from another perspective; Figure 3 is an exploded view of the wrist part of a bionic hand in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a conductive bracket in an embodiment of the present invention; Figure 5 is a structural diagram of the wrist part of a bionic hand in an embodiment of the present invention.

[0018] Explanation of the reference numerals in the drawings: 100, mounting base; 100a, open end; 100b, mounting end; 101, retaining ring; 101a, through hole; 101b, counterbore; 200, conductive post; 201, column body; 202, conductive disk; 300, conductive bracket; 301, introduction end; 302, connection end; 302a, first screw through hole; 310, first bracket; 311, flat position; 320, second bracket; 312, positioning pin; 313, positioning hole; 310a, mounting hole; 400, conductive wire; 401, contact section; 402, connection section; 500, housing; 501, positioning end; 501a, second screw through hole; 502, wire harness tube; 600, flange; 601, threaded connection hole; 700, bionic hand.

[0019] The realization of the object, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the protection scope of the present invention.

[0021] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0022] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0023] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0024] Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , an embodiment of the present invention provides a wrist of a bionic hand, and the wrist of the bionic hand includes: A mounting base 100, the mounting base 100 is arranged in a cylindrical shape, including an open end 100a and a mounting end 100b which are oppositely arranged. The mounting end 100b is used to connect the hand of the bionic hand, and the open end 100a is used to connect the arm of the bionic hand. A retaining ring 101 extends from the inner wall of the mounting end 100b towards the center, and a through hole 101a is formed in the center of the retaining ring 101; A conductive column 200, one end of the conductive column 200 is connected to the retaining ring 101 and is used to abut against the hand, and the other end extends into the mounting base 100 through the through hole 101a; A conductive bracket 300, the conductive bracket 300 is provided with an introduction end 301 and a connection end 302, and the introduction end 301 is used for the other end of the conductive column 200 to extend into; The conductive wire 400 includes a contact section 401 and a connection section 402. The contact section 401 is inserted from the outer wall of the conductive bracket 300 into the inner wall of the conductive bracket 300 to contact the conductive post 200, and the connection section 402 is exposed outside the outer wall of the conductive bracket 300. The housing 500 is sleeved with the conductive bracket 300, and the inner wall of the housing 500 contacts the connection section 402 of the conductive wire 400.

[0025] In this embodiment, the main function of the mounting base 100 is to provide a mounting place for each component and connect the arm and the hand of the bionic hand. The mounting base 100 can be cylindrical in shape, and its outer shape is a cylindrical structure. Of course, in other embodiments, the mounting base 100 can also be in other shapes such as square, oval or polygon. The material of the mounting base 100 can be made of lightweight and high-strength materials such as aluminum alloy, carbon fiber composite material, and high-strength engineering plastic to reduce the overall weight and provide sufficient structural strength. The mounting base 100 includes an open end 100a and a mounting end 100b which are oppositely arranged. The mounting end 100b is used to connect the hand of the bionic hand, and the open end 100a is used to connect the arm of the bionic hand. A retaining ring 101 extends from the inner wall of the mounting end 100b towards the center, and a through hole 101a is formed in the center of the retaining ring 101. The setting of the through hole 101a can ensure that the conductive post 200 can pass through smoothly and be electrically connected to the hand.

[0026] The conductive post 200 is mounted on the mounting base 100. The function of the conductive post 200 in this embodiment is to realize the electrical connection between the arm and the hand of the bionic hand and transmit electric power and control signals. One end of the conductive post 200 is connected to the retaining ring 101 for abutting against the hand, and the other end extends into the interior of the mounting base 100 through the through hole 101a. In this embodiment, the conductive post 200 can be made of copper alloy material, and its surface can be gold-plated or silver-plated to improve the conductive performance and prevent oxidation and corrosion.

[0027] The conductive bracket 300 is provided with an introduction end 301 and a connection end 302. The introduction end 301 is used for the other end of the conductive post 200 to extend in. The conductive bracket 300 is mainly used to provide a mounting place for the conductive wire 400 so that the conductive wire 400 can reliably contact the conductive post 200. The conductive bracket 300 in this embodiment is cylindrical, and its material can be made of materials such as ABS engineering plastic, nylon or metal. Multiple slots or grooves for fixing the conductive wire 400 can be arranged inside to ensure the precise positioning of the conductive wire 400.

[0028] The conductive wire 400 provides a conduction medium for the electrical connection between the hand and the arm in this embodiment, transmitting control signals and electric power. The conductive wire 400 includes a contact section 401 and a connection section 402. The contact section 401 is inserted from the outer wall of the conductive bracket 300 into the inner wall of the conductive bracket 300 to contact the conductive column 200, and the connection section 402 is exposed on the outer wall of the conductive bracket 300 to facilitate the connection of the control cable to the connection section 402 of the conductive wire 400. The conductive wire 400 can be made of gold-plated copper wire or multi-strand copper wire bundle to improve the electrical conductivity and enhance the flexibility.

[0029] The function of the outer shell 500 in this embodiment is to fix the conductive wire 400, preventing the conductive column 200 from pushing the conductive wire 400 to displace after extending into the conductive bracket 300 to contact the contact section 401, resulting in poor contact or disconnection. The outer shell 500 is sleeved on the conductive bracket 300, and the inner wall of the outer shell 500 contacts the connection section 402 of the conductive wire 400, playing a role of support and protection. The outer shell 500 can be made of lightweight metal or high-strength engineering plastic and can be set into a modular structure for easy installation and maintenance.

[0030] It should be noted that in this embodiment, after the outer shell 500 is sleeved on the conductive bracket 300, the fixing method between the two can be bolt connection, adhesive bonding, or fixed connection by interference fit, and no special limitation is made here.

[0031] Furthermore, the outer shell 500, conductive bracket 300, and conductive wire 400 in this embodiment can be installed inside the arm or externally directly connected to the end of the arm. The internal installation method can provide better protection and aesthetics, while the external connection method is convenient for maintenance and replacement.

[0032] During the working process, taking the external direct connection to the end of the arm as an example, first, the mounting seat 100 is installed on the hand (end effector), and then the outer shell 500, conductive bracket 300, and conductive wire 400 are connected to the arm through fixed assembly. In this way, by extending the conductive column 200 on the mounting seat 100 into the conductive bracket 300, the electrical connection between the arm and the hand can be achieved, transmitting control signals and power supply.

[0033] To achieve a stable connection between the arm and the hand, the quick-release device can be used. Specifically, an annular groove can be provided inside the mounting seat 100, and then the outer shell 500 and conductive bracket 300 can be installed on the positioning seat, and a locking component is provided on the positioning seat. The locking component mainly realizes the locking of the positioning seat and the mounting seat 100 by the retractable ball extending into the annular groove. In this way, after locking, the conductive column 200 also completes the electrical connection with the conductive wire 400, forming a stable circuit path.

[0034] During the connection process, after the mounting base 100 is aligned with the positioning base, the two can be locked by rotating or pushing. At the moment of locking, the conductive post 200 will automatically establish contact with the contact section 401 of the conductive wire 400, thus completing the electrical connection. When separation is required, the release mechanism on the locking assembly can be operated to retract the ball, and then the mounting base 100 and the positioning base can be easily separated, realizing quick disassembly and assembly.

[0035] The beneficial effects of the technical solution of the present invention are as follows: By arranging the conductive post 200 on the retaining ring 101 of the mounting base 100, extending one end of the conductive post 200 towards the open end 100a direction, and passing the other end through the retaining ring 101 to directly abut against the hand, and at the same time, a plurality of conductive wires 400 arranged on the inner wall of the conductive bracket 300 are in contact with the conductive post 200. After the mounting base 100 and the hand are assembled, the conductive post 200 can be electrically connected to the hand, and there is no need to separately connect external interfaces such as power supply cables and communication cables. In addition, after the conductive post 200 extends into the conductive bracket 300, it can directly contact and electrically connect with a plurality of conductive wires 400, thereby realizing functions such as power supply and communication, and eliminating the problems of complex cable connection and cumbersome operation in the wrist part of the traditional bionic hand.

[0036] Refer to Figure 5 , in this embodiment, a sunk platform 101b is formed on the side of the retaining ring 101 facing the hand; The conductive post 200 includes a column body 201 and a conductive disk 202 arranged at one end of the column body 201. The column body 201 extends into the conductive bracket 300, and the conductive disk 202 is connected to the sunk platform 101b.

[0037] In this embodiment, the conductive disk 202 is mainly used to increase the contact area with the hand, improving the stability and reliability of the electrical connection. The conductive disk 202 can be arranged in a disk shape, with a diameter larger than that of the column body 201, and can be made of high-conductivity materials such as copper alloy and silver alloy. A metal layer can be electroplated on the surface to improve the conductivity and prevent oxidation.

[0038] The sunk platform 101b formed on the side of the retaining ring 101 facing the hand matches the outer dimension of the conductive disk 202, enabling the conductive disk 202 to be accurately embedded in the sunk platform 101b. In this way, not only a good positioning effect is provided to ensure the alignment of the contact surface between the conductive disk 202 and the hand, but also the mechanical strength of the connection is enhanced, preventing the displacement of the conductive post 200 due to vibration or impact during use.

[0039] When the bionic wrist part is assembled with the hand, the conductive disk 202 is closely attached to the corresponding electrode of the hand, forming a stable electrical path. At the same time, the column body 201 passes through the through hole 101a of the retaining ring 101 and extends into the interior of the conductive bracket 300 to establish an electrical connection with the contact section 401 of the conductive wire 400, thus completing the complete circuit connection from the hand to the arm.

[0040] Refer to Figure 3 Figure 3 , in this embodiment, the conductive bracket 300 further includes a connection end 302 disposed opposite to the conductive disc 202. The connection end 302 is enclosed, and a first screw through hole 302a is provided in the middle; the housing 500 is configured with a positioning end 501. After the housing 500 is connected to the conductive column 200, the positioning end 501 is in close contact with the connection end 302, and a first screw through hole 302a is provided in the middle of the positioning end 501; the wrist of the bionic hand further includes a flange 600 located at the open end 100a and used for connecting with the arm. The flange 600 is provided with threaded connection holes 601.

[0041] In this embodiment, the first screw through hole 302a of the connection end 302 is circular and through, with a diameter slightly larger than the diameter of the screw, facilitating the smooth passing of the screw. The second screw through hole 501a on the positioning end 501 of the housing 500 is coaxially arranged with the first screw through hole 302a to ensure accurate alignment of all components during the assembly process.

[0042] The flange 600 is disposed at the open end 100a of the mounting base 100 and is used for connecting with the arm of the bionic hand. The threaded connection holes 601 on the flange 600 are coaxially arranged with the first screw through hole 302a and the second screw through hole 501a in the assembled state, and can receive the screw and provide a firm threaded connection. The flange 600 can be made of a high-strength alloy material to withstand the stress during the connection process and the load during use.

[0043] During assembly, the conductive bracket 300 and the housing 500 are placed in position in sequence, so that the positioning end 501 is in close contact with the connection end 302. Then, the screw passes through the first screw through hole 302a and the second screw through hole 501a in sequence, and is threadedly connected to the threaded connection holes 601 on the flange 600, realizing the firm locking of the conductive bracket 300 and the housing 500 on the flange 600. This connection method is not only simple in structure, easy to assemble and disassemble, but also has high connection strength and stability.

[0044] Through the screw connection method, the structure of the entire bionic hand wrist is more compact and unified, the relative positions of all components are accurately fixed, effectively preventing the loosening or displacement of components caused by vibration or external force during use, and ensuring the reliability and stability of the conductive path.

[0045] Continue to refer to Figure 3 Figure 3 , in this embodiment, a wire harness tube 502 protrudes from the outside of the positioning end 501 toward the arm.

[0046] In this embodiment, the wire harness tube 502 can be arranged in a cylindrical structure and protrude from the outer surface of the positioning end 501 towards the arm portion. The inner diameter of the wire harness tube 502 is set according to the number and diameter of the control cables to ensure that the cables can pass through smoothly without obstruction. The wire harness tube 502 can be integrally formed with the housing 500 or can be made separately and then assembled with the housing 500. The material can be the same as that of the housing 500 or an insulating material to ensure structural strength and electrical safety.

[0047] The main function of the wire harness tube 502 is to provide a passage for the control cables, enabling the control cables to penetrate from the arm portion and establish an electrical connection with the conductive wire 400. Through the guidance and protection of the wire harness tube 502, the control cables can enter the interior of the housing 500 along a predetermined path and be reliably connected to the connection section 402 of the conductive wire 400, thereby realizing the transmission of control signals and power.

[0048] Refer to Figure 4 , in this embodiment, the conductive wire 400 is arranged in a U shape, the contact sections 401 are distributed on two opposite sides of the U shape, and the connection section 402 connects the two contact sections 401; the conductive bracket 300 is provided with multiple groups of mounting holes 310a arranged at intervals along the axial direction. Each group of mounting holes 310a includes two mounting holes 310a corresponding to the two contact sections. The mounting holes 310a penetrate the inner wall of the conductive bracket 300. After the contact sections pass through the mounting holes 310a, part of them protrude from the inner wall of the conductive bracket 300 to contact the column body 201.

[0049] In this embodiment, the U-shaped conductive wire 400 has good elasticity and contact pressure, which can ensure reliable contact with the conductive column 200. The two contact sections 401 of each conductive wire 400 are connected by the connection section 402 to form an integral structure, simplifying the assembly process, reducing the connection points, and improving the overall reliability. The U-shaped conductive wire 400 in this embodiment can be made of a highly conductive material, such as beryllium copper alloy or phosphor copper alloy, and the surface can be gold-plated or silver-plated to improve the conductive performance and prevent oxidation.

[0050] The multiple groups of mounting holes 310a arranged at intervals along the axial direction on the conductive bracket 300 are used to fix the conductive wires 400 at different positions to achieve the transmission of multiple electrical signals and power. Each group of mounting holes 310a corresponds to the two contact sections of a U-shaped conductive wire 400. The mounting holes 310a penetrate the inner wall of the conductive bracket 300, enabling the contact sections 401 of the conductive wire 400 to extend into the interior of the conductive bracket 300 and establish electrical contact with the inserted column body 201 of the conductive column 200. The size of the mounting holes 310a matches the size of the contact sections of the conductive wire 400, or an interference fit can also be used to ensure that the conductive wire 400 is stably fixed after installation and is not easily loosened.

[0051] After the contact section 401 passes through the mounting hole 310a, a part of the contact section 401 is exposed on the inner wall of the conductive bracket 300, and the protruding length can be adjusted according to the diameter of the conductive column 200 and the required contact pressure. In this way, it is ensured that when the conductive column 200 is inserted into the conductive bracket 300, the contact section 401 of the conductive wire 400 can establish a reliable electrical contact with the column body 201 and provide an appropriate contact pressure to prevent poor contact caused by vibration or shock.

[0052] Axially of the conductive bracket 300, multiple groups of conductive wires 400 can be arranged as required to meet the requirements of different numbers of electrical signal and power transmission. For example, the conductive wires 400 at different positions can be connected to different circuits to achieve the transmission of various functions such as control signals, sensor data, and power supplies.

[0053] Continue to refer to Figure 4 , in this embodiment, the conductive bracket 300 includes a first bracket 310 and a second bracket 320 which are separately arranged. The first bracket 310 is provided with multiple groups of mounting holes 310a, and the second bracket 320 is connected to the first bracket 310 by screws.

[0054] In this embodiment, the conductive bracket 300 is provided in a split type, including two main parts: a first bracket 310 and a second bracket 320. Multiple groups of mounting holes 310a are provided on the first bracket 310, and these mounting holes 310a completely penetrate the outer wall and the inner wall of the first bracket 310 for mounting the conductive wire 400. The contact section 401 of the conductive wire 400 extends into the first bracket 310 through the mounting hole 310a and is exposed on the inner wall surface to establish a reliable electrical contact with the inserted conductive column 200.

[0055] The first bracket 310 can be made of insulating materials such as engineering plastics and epoxy resins to prevent short circuits between different conductive wires 400. The size of the mounting hole 310a matches the size of the conductive wire 400, and it can be installed by interference fit or loose fit plus a fixing structure to ensure the stable position and reliable contact of the conductive wire 400.

[0056] The second bracket 320 matches the shape of the first bracket 310 and is fixedly connected to the first bracket 310 by screws to form a complete structure of the conductive bracket 300.

[0057] During installation, the conductive wire 400 can be first installed in the mounting hole 310a of the first bracket 310, the position and the protruding length are adjusted, and then the second bracket 320 and the first bracket 310 are connected and fixed by screws to complete the assembly of the entire conductive bracket 300.

[0058] The split conductive bracket 300 improves the modularity of the product, facilitating the replacement of the conductive bracket 300 with different configurations according to different application requirements, and enhancing the flexibility and adaptability of the system. At the same time, the split structure also facilitates the optimization of the installation layout and routing of the conductive wire 400.

[0059] Continue to refer to Figure 4 In this embodiment, the first bracket 310 is semi-cylindrically arranged. The outer surface of the first bracket 310 has a flat position 311 adapted to the connection section 402, and the mounting holes 310a are located on both sides of the flat position 311.

[0060] In this embodiment, the first bracket 310 is semi-cylindrically arranged. The outer surface of the first bracket 310 is provided with a flat position 311 adapted to the connection section 402 of the conductive wire 400. The flat position 311 is mainly provided to form an avoidance space between the flat position 311 and the inner wall of the housing 500, facilitating the external cable to extend in and establish a reliable connection with the connection section 402 of the conductive wire 400. The mounting holes 310a are arranged on both sides of the flat position 311 for fixing the two contact sections 401 of the conductive wire 400, enabling them to pass through the wall thickness of the first bracket 310 and extend to the inner wall to contact the conductive column 200.

[0061] In this embodiment, in addition to separately providing the basic flat position 311 in the foregoing embodiment, a concave structure can be further provided on the basis of the flat position 311 for accommodating the connection section 402 of the conductive wire 400. In this way, the connection section 402 can be more stably fixed on the first bracket 310, preventing loosening or displacement caused by vibration or external force during use (for example, it can prevent the wire from displacing circumferentially relative to the conductive bracket). In addition, the depth of the concave structure can be set according to the thickness (or outer diameter) of the connection section 402 to ensure that the connection section 402 is completely embedded in the concave structure, so that the connection section 402 does not protrude to interfere with the installation of the housing 500. In this way, the semi-cylindrical first bracket 310 with the flat position 311 optimizes the space utilization rate and improves the assembly convenience.

[0062] Continue to refer to Figure 4 In this embodiment, a positioning pin 312 is provided on the mounting surface of one of the first bracket 310 and the second bracket 320, and a positioning hole 313 is provided on the mounting surface of the other of the first bracket 310 and the second bracket 320.

[0063] In this embodiment, the first bracket 310 and the second bracket 320 are accurately assembled through the cooperation of the positioning pins 312 and the positioning holes 313. Specifically, a plurality of positioning pins 312 are provided on the mounting surface of the first bracket 310, and these positioning pins 312 protrude from the mounting surface in a cylindrical shape. Correspondingly, positioning holes 313 corresponding one-to-one to the positioning pins 312 are provided on the mounting surface of the second bracket 320, and the positions and dimensions of the positioning holes 313 are precisely matched with those of the positioning pins 312 to achieve the accurate positioning of the two brackets.

[0064] In other embodiments, in addition to providing positioning holes 313 on the mounting surface of the first bracket 310 and positioning pins 312 on the mounting surface of the second bracket 320, it can also be that positioning holes 313 are provided on the mounting surface of the first bracket 310 and positioning pins 312 are provided on the mounting surface of the second bracket 320.

[0065] During the assembly process, first, the conductive wire 400 is installed into the mounting hole 310a of the first bracket 310, so that the contact section 401 passes through the mounting hole 310a and extends into the interior of the first bracket 310. Then, the first bracket 310 and the second bracket 320 are aligned, and the positioning pins 312 are inserted into the positioning holes 313 to achieve the preliminary positioning and alignment of the two brackets. This positioning mechanism ensures that the two brackets can be accurately aligned during assembly, preventing problems such as the position deviation of the conductive wire 400 and poor contact caused by assembly errors.

[0066] After the positioning pins 312 are completely inserted into the positioning holes 313, the mounting surfaces of the first bracket 310 and the second bracket 320 are closely attached to form an integral structure. In addition, the setting of the positioning pins 312 and the positioning holes 313 can also prevent assembly errors. For example, by misplacing the positioning pins 312 and the positioning holes 313 on the first bracket 310 and the second bracket 320 respectively, the first bracket 310 and the second bracket 320 can only be assembled together in the only correct way, avoiding possible direction errors and position deviations during the assembly process.

[0067] In addition, the cooperation of the positioning pins 312 and the positioning holes 313 can also improve the assembly efficiency. In mass production, the operator only needs to roughly align the two brackets, and the positioning pins 312 will automatically guide the two brackets into the correct assembly positions, reducing the adjustment time and assembly difficulty and improving the production efficiency.

[0068] Continue to refer to Figure 4 , in this embodiment, the leading end 301 of the conductive bracket 300 has a taper.

[0069] In this embodiment, the leading end 301 of the conductive bracket 300 is tapered, gradually shrinking from the outside to the inside to form a guiding structure. The taper setting is mainly to facilitate the better insertion of the conductive column 200 into the interior of the conductive bracket 300, reduce the assembly difficulty, and improve the operation convenience.

[0070] For example, the angle of the tapered leading end 301 is set between 15° and 45°. This angle range can not only provide a good guiding effect but also not overly weaken the structural strength of the leading end 301. The conical surface can be smoothed to reduce the frictional resistance, enabling the conductive column 200 to be inserted smoothly. The part of the interior of the leading end 301 in contact with the conductive column 200 remains cylindrical to ensure the stability and contact reliability after the insertion of the conductive column 200.

[0071] The bionic hand further proposed by the present invention includes a hand part and the wrist part of the bionic hand as described in the foregoing embodiment. The specific structure of the wrist part of this bionic hand refers to the above embodiment. Since the bionic hand adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0072] In this embodiment, the hand part of the bionic hand may include a palm body and multiple fingers. An installation interface matching the installation end 100b of the wrist mounting seat 100 is provided on the palm body. An electrode plate is provided at the center position of the installation interface for direct contact with the conductive disk 202 of the wrist to establish an electrical connection. The electrode plate is connected to electrical components such as the driving motor, sensor, and control circuit of the hand part through internal wires to form a complete electrical system.

[0073] The palm body can integrate core components such as a microcontroller, a multi-channel driving circuit, a force feedback sensor, and an attitude sensor for controlling the movement of the fingers and perceiving the external environment. Each finger is provided with multiple joints and is driven by a micro motor to achieve actions such as flexion and extension, adduction and abduction, simulating the flexibility and grasping ability of a human hand. The finger surface can be covered with bionic skin material to improve the grasping stability.

[0074] When it is necessary to connect the hand part and the wrist part, just align the mounting seat 100 of the wrist with the installation interface of the hand part and gently push to make them fit. The conductive disk 202 will automatically contact the electrode plate. At the same time, the retaining ring 101 of the mounting seat 100 and the installation interface form a locking fit, realizing the integrated assembly of mechanical connection and electrical connection. This greatly simplifies the connection process, eliminates the need for additional cable connection steps, and improves the assembly efficiency and use convenience.

[0075] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A wrist of a bionic hand, characterized in that: include: The mounting seat is cylindrical and includes an open end and a mounting end that are oppositely arranged. The mounting end is used to connect to the hand of the bionic hand, and the open end is used to connect to the arm of the bionic hand. The mounting end is provided with a retaining ring extending from the inner wall to the center, and the center of the retaining ring is configured with a through hole; A conductive column, one end of which is connected to the retaining ring and is used to abut against the hand, and the other end of which extends into the mounting seat through the through hole; A conductive bracket, wherein the conductive bracket is provided with an introduction end and a connection end, and the introduction end is used for the other end of the conductive column to extend into; A conductive wire, the conductive wire comprising a contact section and a connecting section, the contact section is inserted from the outer wall of the conductive support into the inner wall of the conductive support to contact the conductive column, and the connecting section is exposed from the outer wall of the conductive support; The outer shell is sleeved with the conductive support, and the inner wall of the outer shell is in contact with the connecting section of the conductive wire.

2. The wrist of the bionic hand according to claim 1, characterized in that: The side of the retaining ring facing the hand is structured with a sink; The conductive column comprises a column body and a conductive plate arranged at one end of the column body, the column body extends into the conductive bracket, and the conductive plate is connected to the sinking platform.

3. The wrist of the bionic hand according to claim 2, characterized in that: The conductive column also includes a connecting end arranged opposite to the conductive disk, the connecting end is closed, and a first screw through hole is arranged in the middle; the shell is structured with a positioning end, and after the shell is connected to the conductive column, the positioning end is tightly attached to the connecting end, and a second screw through hole is arranged in the middle of the positioning end; the wrist of the bionic hand also includes a flange located at the open end for connecting to the arm, and the flange is provided with a threaded connection hole.

4. The wrist of the bionic hand according to claim 3, characterized in that: A harness tube is protruded from the outside of the positioning end toward the arm portion.

5. The wrist of the bionic hand according to any one of claims 2 to 4, characterized in that: The conductive wire is arranged in a U shape, the contact segments are distributed on two opposite sides of the U shape, and the connecting segment connects the two contact segments; the conductive bracket is provided with a plurality of groups of mounting holes arranged at intervals along the axial direction, each group of mounting holes includes two mounting holes arranged corresponding to the two contact segments, the mounting holes pass through the inner wall of the conductive bracket, and after the contact segments pass through the mounting holes, the inner wall of the conductive bracket is partially exposed to contact the column body.

6. The wrist of the bionic hand according to claim 5, characterized in that: The conductive bracket comprises a first bracket and a second bracket which are separately arranged, the first bracket is provided with a plurality of groups of mounting holes, and the second bracket is connected to the first bracket by screws.

7. The wrist of the bionic hand according to claim 6, characterized in that: The first bracket is arranged in a semi-cylindrical shape, and the outer surface of the first bracket has a flat portion adapted to the connecting section, and the mounting holes are located on both sides of the flat portion.

8. The wrist of the bionic hand according to claim 7, characterized in that: A mounting surface of one of the first bracket and the second bracket is provided with a positioning pin, and a mounting surface of the other of the first bracket and the second bracket is provided with a positioning hole.

9. The wrist of the bionic hand according to claim 8, characterized in that: The introduction end of the conductive support has a taper.

10. A bionic hand, characterized in that: The bionic hand comprises a hand and a wrist as claimed in any one of claims 1 to 8.

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