Bionic wrist and bionic hand

Abstract

The present invention discloses a wrist of a bionic hand and a bionic hand. The wrist of the bionic hand includes a mounting seat, which is cylindrical and includes an open end and a mounting end that are oppositely arranged. The mounting end is used to connect the hand of the bionic hand, and the open end is used to connect the arm of the bionic hand. The mounting end is provided with a retaining ring extending from the inner wall to the center. The center of the retaining ring is configured with a through hole. One end of a conductive column is connected to the retaining ring and is used to abut against the hand, and the other end extends into the mounting seat through the through hole. The conductive bracket is provided with an introduction end and a connecting end. The introduction end is used for the other end of the conductive column to extend therein. 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 and contacts the conductive column. The connecting section is exposed on the outer wall of the conductive bracket. The outer shell is sleeved on the conductive bracket, and the inner wall of the outer shell contacts the connecting section of the conductive wire.

Description

Technical Field

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

[0002] The wrist of the bionic hand is a key component that connects the hand to the main structure in the mechanical system. Its performance directly affects the operating efficiency and accuracy of the robotic arm, and is of decisive significance to the realization of the overall system function.

[0003] The wrist of a common bionic hand currently on the market typically consists of two main components: a base and a connector. The base securely connects to the main structure of the robotic arm, while the connector mounts and secures the hand. To meet the demands of complex operating environments, modern wrist connectors are typically designed with multiple degrees of freedom (DOF) capabilities, including rotation, flexion and extension, and lateral bending, to simulate the natural range of motion of the human wrist, enabling precise and complex manipulation tasks.

[0004] However, after the wrist and hand of the bionic hand are assembled, external interfaces such as power cables and communication cables still need to be connected separately, which may cause the cables to become entangled and bound during the movement of the robotic arm, limiting the range of motion and operational flexibility of the robotic arm. Summary of the Invention

[0005] The main purpose of the present invention is to provide a wrist of a bionic hand, aiming to solve the problem that after the wrist of the bionic hand is assembled with the hand, the connecting cable limits the range of motion and flexibility of the robotic arm.

[0006] To achieve the above object, the present invention provides a wrist of a bionic hand, the wrist of the bionic hand comprising:

[0007] 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 toward the center, and the center of the retaining ring is configured with a through hole;

[0008] a conductive post, 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;

[0009] A conductive bracket, the conductive bracket is provided with an introduction end and a connection end, the introduction end is used for the other end of the conductive column to extend into;

[0010] A conductive wire, the conductive wire comprising a contact section and a connecting section, the contact section being inserted from the outer wall of the conductive bracket into the inner wall of the conductive bracket and contacting the conductive post, and the connecting section being exposed from the outer wall of the conductive bracket;

[0011] The outer shell is sleeved with the conductive bracket, and the inner wall of the outer shell is in contact with the connecting section of the conductive wire.

[0012] In some embodiments, a side of the retaining ring facing the hand is configured with a sink;

[0013] The conductive column includes a column body and a conductive disk arranged at one end of the column body, the column body extends into the conductive bracket, and the conductive disk is connected to the sinking platform.

[0014] In some embodiments, 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 provided 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 provided 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.

[0015] In some embodiments, a harness tube is provided on the exterior of the positioning end protruding toward the arm portion.

[0016] 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 connecting segment connects the two contact segments; the conductive bracket is provided with multiple groups of mounting holes arranged at intervals along the axial direction, each group of mounting holes includes two mounting holes corresponding to the two contact segments, and the mounting holes pass through the inner wall of the conductive bracket. After the contact segment passes through the mounting hole, the inner wall of the conductive bracket is partially exposed to contact the column body.

[0017] 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.

[0018] In some embodiments, the first bracket is semi-cylindrical, 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.

[0019] In some embodiments, 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.

[0020] In some embodiments, the introduction end of the conductive support has a taper.

[0021] The present invention further provides a bionic hand, comprising a hand and a wrist of the bionic hand as described in the above embodiment.

[0022] The beneficial effects of the technical solution of the present invention are as follows: by providing a conductive post on the retaining ring of the mounting base, extending one end of the conductive post toward the open end and the other end through the retaining ring to directly contact the hand, and simultaneously contacting the conductive post with multiple conductive filaments disposed on the inner wall of the conductive bracket, once the mounting base and hand are assembled, the conductive post can be electrically connected to the hand, eliminating the need for separate connections to external interfaces such as power cables and communication cables. Once the conductive post is inserted into the conductive bracket, it can directly contact and electrically connect with the multiple conductive filaments, thereby achieving functions such as power supply and communication, thereby eliminating the complex cable connections and cumbersome operation problems of the wrist of traditional bionic hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a front view of the wrist of a bionic hand according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 The cross-sectional view at AA is a schematic structural diagram from another perspective;

[0025] Figure 3 An exploded view of the wrist of a bionic hand according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic structural diagram of a conductive frame in one embodiment of the present invention;

[0027] Figure 5 2 is a structural diagram of the wrist of a bionic hand in one embodiment of the present invention.

[0028] Description of Figure Numbers:

[0029] 100, mounting seat; 100a, open end; 100b, mounting end; 101, retaining ring; 101a, through hole; 101b, sink;

[0030] 200, conductive column; 201, column body; 202, conductive disk;

[0031] 300, conductive bracket; 301, lead-in end; 302, connection end; 302a, first screw hole; 310, first bracket; 311, flat position; 320, second bracket; 312, positioning pin; 313, positioning hole; 310a, mounting hole;

[0032] 400, conductive wire; 401, contact segment; 402, connecting segment;

[0033] 500, housing; 501, positioning end; 501a, second screw hole; 502, wiring harness tube;

[0034] 600, flange; 601, threaded connection hole;

[0035] 700. Bionic hand.

[0036] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings to clearly and completely describe the solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0038] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0040] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 An embodiment of the present invention provides a wrist of a bionic hand, the wrist of the bionic hand comprising:

[0042] The mounting base 100 is cylindrical and includes an open end 100a and a mounting end 100b opposite to each other. The mounting end 100b is used to connect to the hand of the bionic hand, and the open end 100a is used to connect to the arm of the bionic hand. A retaining ring 101 is provided on the mounting end 100b extending from the inner wall toward the center. A through hole 101a is configured in the center of the retaining ring 101.

[0043] Conductive post 200, one end of which is connected to retaining ring 101 for contact with the hand, and the other end of which extends into mounting base 100 through through hole 101a;

[0044] 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 pillar 200 to extend into;

[0045] Conductive filament 400, comprising a contact segment 401 and a connecting segment 402. The contact segment 401 is inserted from the outer wall of the conductive support 300 into the inner wall of the conductive support 300 to contact the conductive pillar 200, while the connecting segment 402 is exposed from the outer wall of the conductive support 300.

[0046] The housing 500 is sleeved with the conductive bracket 300 , and the inner wall of the housing 500 contacts the connecting section 402 of the conductive wire 400 .

[0047] In the present embodiment, the main function of the mounting base 100 is to provide a mounting location for each device and to connect the arm and hand of the bionic hand. The mounting base 100 can be arranged in a cylindrical 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 polygonal. The material of the mounting base 100 can be a lightweight and high-strength material such as aluminum alloy, carbon fiber composite material, high-strength engineering plastic, etc., to reduce the overall weight and provide sufficient structural strength. The mounting base 100 includes an open end 100a and a mounting end 100b arranged relatively. 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. The mounting end 100b is provided with a retaining ring 101 extending from the inner wall to the center. The center of the retaining ring 101 is configured with a through hole 101a. The provision of the through hole 101a can ensure that the conductive column 200 can pass through smoothly and be electrically connected to the hand.

[0048] Conductive post 200 is mounted on mounting base 100. In this embodiment, conductive post 200 provides electrical connection between the bionic arm and the hand, transmitting power and control signals. One end of conductive post 200 is connected to retaining ring 101 for contact with the hand, while the other end extends into mounting base 100 through through-hole 101a. In this embodiment, conductive post 200 can be made of copper alloy, with a gold or silver plating to enhance conductivity and prevent oxidative corrosion.

[0049] The conductive bracket 300 is provided with an introduction end 301 and a connection end 302. The introduction end 301 is used to insert the other end of the conductive pillar 200. The conductive bracket 300 primarily serves to provide a mounting location for the conductive filament 400, ensuring reliable contact between the conductive filament 400 and the conductive pillar 200. In this embodiment, the conductive bracket 300 is cylindrical and can be made of materials such as ABS engineering plastic, nylon, or metal. It can be internally provided with multiple slots or grooves for securing the conductive filament 400, ensuring precise positioning of the conductive filament 400.

[0050] In this embodiment, the conductive wire 400 provides a conductive medium for the electrical connection between the hand and arm, transmitting control signals and power. The conductive wire 400 comprises a contact segment 401 and a connecting segment 402. The contact segment 401 extends from the outer wall of the conductive support 300 into the inner wall of the conductive support 300, contacting the conductive post 200. The connecting segment 402 is exposed outside the outer wall of the conductive support 300, facilitating connection of the control cable to the connecting segment 402 of the conductive wire 400. The conductive wire 400 can be made of gold-plated copper wire or a multi-strand copper wire bundle to improve conductivity and enhance flexibility.

[0051] In this embodiment, the housing 500 secures the conductive filament 400, preventing the conductive post 200 from extending into the conductive support 300 and contacting the contact segment 401, which could push the conductive filament 400 into position and cause poor contact or disconnection. The housing 500 nests within the conductive support 300, with its inner wall contacting the connecting segment 402 of the conductive filament 400, providing support and protection. The housing 500 can be made of lightweight metal or high-strength engineering plastic and can be modularized for ease of installation and maintenance.

[0052] It should be noted that, in this embodiment, after the housing 500 is sleeved on the conductive bracket 300, the two can be fixed by bolt connection, adhesive bonding, or interference fit, which is not particularly limited here.

[0053] Furthermore, the housing 500, conductive bracket 300, and conductive wire 400 in this embodiment can be installed internally in the arm or externally connected directly to the end of the arm. The internal installation method provides better protection and aesthetics, while the external connection method is easier to inspect and replace.

[0054] During operation, taking the example of an external direct connection to the end of an arm, first install the mounting base 100 on the hand (end effector). Then, after fixing and assembling the housing 500, conductive bracket 300, and conductive wire 400, they are connected to the arm. By inserting the conductive post 200 on the mounting base 100 into the conductive bracket 300, an electrical connection is established between the arm and hand, transmitting control signals and power supply.

[0055] To achieve a stable connection between the arm and hand, a quick-release mechanism can be used. Specifically, the mounting base 100 can be provided with an annular groove, and then the housing 500 and the conductive bracket 300 can be mounted on the positioning base, which is equipped with a locking assembly. The locking assembly mainly uses a retractable ball that extends into the annular groove to lock the positioning base and the mounting base 100. In this way, after locking, the conductive column 200 also completes the electrical connection with the conductive wire 400, forming a stable circuit path.

[0056] During the connection process, once the mounting base 100 and the positioning base are aligned, they can be locked by rotating or pushing them together. At the moment of locking, the conductive post 200 automatically contacts the contact segment 401 of the conductive wire 400, completing the electrical connection. To disconnect, the release mechanism on the locking assembly retracts the ball bearings, allowing for easy separation of the mounting base 100 and positioning base, enabling quick assembly and disassembly.

[0057] The beneficial effects of the technical solution of the present invention are as follows: by providing a conductive post 200 on the retaining ring 101 of the mounting base 100, extending one end of the conductive post 200 toward the open end 100a, and allowing the other end to pass through the retaining ring 101 and directly contact the hand, while simultaneously contacting the multiple conductive filaments 400 disposed on the inner wall of the conductive support 300 with the conductive post 200, once the mounting base 100 and the hand are assembled, the conductive post 200 can be electrically connected to the hand, eliminating the need for separate connections to external interfaces such as power cables and communication cables. Furthermore, once the conductive post 200 is inserted into the conductive support 300, it can directly contact and electrically connect to the multiple conductive filaments 400, thereby achieving functions such as power supply and communication, thereby eliminating the complex cable connections and cumbersome operations associated with conventional bionic hands.

[0058] See Figure 5 In this embodiment, a side of the retaining ring 101 facing the hand is configured with a sink 101b;

[0059] The conductive column 200 includes a column body 201 and a conductive plate 202 provided at one end of the column body 201 . The column body 201 extends into the conductive bracket 300 , and the conductive plate 202 is connected to the sink 101 b .

[0060] In this embodiment, the conductive disc 202 is primarily used to increase the contact area with the hand and improve the stability and reliability of the electrical connection. The conductive disc 202 can be disc-shaped, with a diameter larger than that of the shaft 201. It can be made of a highly conductive material, such as a copper alloy or silver alloy. The surface can be electroplated with a metal layer to improve conductivity and prevent oxidation.

[0061] The recessed platform 101b on the hand-facing side of the retaining ring 101 matches the dimensions of the conductive plate 202, allowing the conductive plate 202 to be precisely embedded within the recessed platform 101b. This not only provides excellent positioning, ensuring alignment between the contact surface of the conductive plate 202 and the hand, but also enhances the mechanical strength of the connection, preventing displacement of the conductive pillar 200 due to vibration or impact during use.

[0062] When the bionic wrist is assembled with the hand, the conductive discs 202 fit tightly against the corresponding electrodes on the hand, forming a stable electrical pathway. Simultaneously, the column 201 passes through the through-hole 101a of the retaining ring 101 and extends into the interior of the conductive bracket 300, establishing an electrical connection with the contact segment 401 of the conductive wire 400, thus completing the circuit connection from the hand to the arm.

[0063] See Figure 3 In this embodiment, the conductive bracket 300 also includes a connecting end 302 arranged opposite to the conductive plate 202. The connecting end 302 is closed and has a first screw hole 302a in the middle. The housing 500 is constructed with a positioning end 501. After the housing 500 is connected to the conductive column 200, the positioning end 501 is tightly attached to the connecting end 302. The middle of the positioning end 501 is provided with a first screw hole 302a. The wrist of the bionic hand also includes a flange 600 located at the open end 100a for connecting to the arm. The flange 600 is provided with a threaded connection hole 601.

[0064] In this embodiment, the first screw hole 302a at the connection end 302 is circular and has a diameter slightly larger than the screw diameter to facilitate smooth screw insertion. The second screw hole 501a at the positioning end 501 of the housing 500 is coaxial with the first screw hole 302a to ensure accurate alignment of the components during assembly.

[0065] The flange 600 is located at the open end 100a of the mounting base 100 and is used to connect to the arm of the bionic hand. The threaded connection holes 601 in the flange 600 are coaxial with the first screw holes 302a and the second screw holes 501a when assembled, accommodating screws and providing a secure threaded connection. The flange 600 can be made of a high-strength alloy to withstand the stresses during connection and the loads during use.

[0066] During assembly, the conductive bracket 300 and the housing 500 are positioned sequentially, with the positioning end 501 tightly aligned with the connection end 302. Screws are then inserted sequentially through the first screw hole 302a and the second screw hole 501a, and threadedly connected to the threaded connection holes 601 on the flange 600, thereby securely locking the conductive bracket 300 and the housing 500 to the flange 600. This connection method is not only simple in structure and easy to assemble and disassemble, but also has high connection strength and stability.

[0067] Through screw connection, the structure of the entire bionic wrist is more compact and unified, and the relative positions of the components are precisely fixed, effectively preventing loosening or displacement of components due to vibration or external force during use, ensuring the reliability and stability of the conductive path.

[0068] Continue reading Figure 3 In this embodiment, a harness tube 502 is provided on the outside of the positioning end 501 protruding toward the arm.

[0069] In this embodiment, the wiring harness tube 502 can be configured as a cylindrical structure, protruding from the outer surface of the positioning end 501 toward the arm. The inner diameter of the wiring harness tube 502 is set according to the number and diameter of the control cables to ensure smooth and unobstructed passage of the cables. The wiring harness tube 502 can be integrally formed with the housing 500 or manufactured separately and then assembled with the housing 500. It can be made of the same material as the housing 500 or an insulating material to ensure structural strength and electrical safety.

[0070] The primary function of the harness tube 502 is to provide a passage for the control cables, allowing them to pass through the arm and establish an electrical connection with the conductive wire 400. Guided and protected by the harness tube 502, the control cables follow a predetermined path into the housing 500 and reliably connect with the connecting segment 402 of the conductive wire 400, thereby enabling the transmission of control signals and power.

[0071] See Figure 4 In this embodiment, the conductive wire 400 is arranged in a U-shape, with the contact segments 401 distributed on two opposite sides of the U-shape, and the connecting segment 402 connecting the two contact segments 401; the conductive bracket 300 is provided with multiple groups of mounting holes 310a spaced apart along the axial direction, each group of mounting holes 310a includes two mounting holes 310a corresponding to two contact segments, and the mounting holes 310a pass through the inner wall of the conductive bracket 300. After the contact segments pass through the mounting holes 310a, they are partially exposed from the inner wall of the conductive bracket 300 to contact the column body 201.

[0072] In this embodiment, the U-shaped conductive filament 400 exhibits excellent elasticity and contact pressure, ensuring reliable contact with the conductive pillar 200. The two contact segments 401 of each conductive filament 400 are connected by a connecting segment 402 to form an integrated structure, simplifying the assembly process, reducing connection points, and improving overall reliability. The U-shaped conductive filament 400 in this embodiment can be made of a highly conductive material, such as beryllium copper or phosphor copper alloy, and can be plated with gold or silver to enhance conductivity and prevent oxidation.

[0073] The conductive bracket 300 features multiple sets of mounting holes 310a, spaced axially apart, for securing conductive filaments 400 at different locations, enabling multi-path electrical signal and power transmission. Each set of mounting holes 310a corresponds to the two contact segments of a U-shaped conductive filament 400. The mounting holes 310a extend through the inner wall of the conductive bracket 300, allowing the contact segments 401 of the conductive filament 400 to extend into the interior of the bracket 300 and establish electrical contact with the shaft 201 of the inserted conductive post 200. The dimensions of the mounting holes 310a match those of the contact segments of the conductive filament 400, and an interference fit can also be employed to ensure that the conductive filament 400 remains securely fixed and resists loosening after installation.

[0074] After the contact segment 401 passes through the mounting hole 310a, it partially protrudes from the inner wall of the conductive support 300. The protruding length can be adjusted based on the diameter of the conductive post 200 and the required contact pressure. This ensures that when the conductive post 200 is inserted into the conductive support 300, the contact segment 401 of the conductive wire 400 can establish reliable electrical contact with the post body 201 and provide appropriate contact pressure to prevent poor contact caused by vibration or impact.

[0075] Multiple groups of conductive wires 400 can be arranged axially along the conductive support 300 as needed to meet the transmission requirements of different electrical signals and power. For example, conductive wires 400 at different locations can be connected to different circuits to transmit various functions such as control signals, sensor data, and power.

[0076] Continue reading Figure 4 In this embodiment, the conductive bracket 300 includes a first bracket 310 and a second bracket 320 that are separately provided. 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.

[0077] In this embodiment, the conductive bracket 300 is a split structure, comprising two main parts: a first bracket 310 and a second bracket 320. The first bracket 310 is provided with multiple sets of mounting holes 310a, which completely penetrate the outer and inner walls of the first bracket 310 and are used to mount the conductive filament 400. The contact section 401 of the conductive filament 400 extends through the mounting holes 310a into the interior of the first bracket 310, exposed on the inner wall surface, to establish reliable electrical contact with the inserted conductive post 200.

[0078] The first bracket 310 can be made of an insulating material, such as engineering plastics or epoxy resin, to prevent short circuits between different conductive filaments 400. The size of the mounting hole 310a matches the size of the conductive filament 400, and can be installed using an interference fit or a loose fit with a fixed structure to ensure stable position and reliable contact of the conductive filament 400.

[0079] The second bracket 320 matches the first bracket 310 in shape and is fixed together by screws to form a complete conductive bracket 300 structure.

[0080] During installation, the conductive wire 400 can be first installed into the mounting hole 310a of the first bracket 310, and the position and extension length can be adjusted. Then, the second bracket 320 and the first bracket 310 can be fixed with screws to complete the assembly of the entire conductive bracket 300.

[0081] The split conductive bracket 300 improves the modularity of the product, making it easier to replace the conductive bracket 300 with different configurations according to different application requirements, enhancing the flexibility and adaptability of the system. Furthermore, the split structure also facilitates the optimization of the installation layout and routing of the conductive wire 400.

[0082] Continue reading Figure 4 In this embodiment, the first bracket 310 is semi-cylindrical, and the outer surface of the first bracket 310 has a flat portion 311 adapted to the connecting section 402 , and the mounting holes 310 a are located on both sides of the flat portion 311 .

[0083] In this embodiment, the first bracket 310 is semi-cylindrical in shape. The outer surface of the first bracket 310 is provided with a flat portion 311 that mates with the connecting segment 402 of the conductive thread 400. The flat portion 311 is provided primarily to create a clearance between the flat portion 311 and the inner wall of the housing 500, facilitating the insertion of external cables and establishing a reliable connection with the connecting segment 402 of the conductive thread 400. Mounting holes 310a are provided on either side of the flat portion 311 to secure the two contact segments 401 of the conductive thread 400, allowing them to penetrate the wall of the first bracket 310, extend to the inner wall, and contact the conductive pillar 200.

[0084] In this embodiment, in addition to the basic flat portion 311 provided separately in the aforementioned embodiment, a recessed structure can be further provided within the flat portion 311 to accommodate the connecting segment 402 of the conductive filament 400. This allows the connecting segment 402 to be more stably secured to the first bracket 310, preventing loosening or displacement caused by vibration or external forces during use (for example, preventing circumferential displacement of the conductive filament relative to the conductive bracket). Furthermore, the depth of the recessed structure can be adjusted based on the thickness (or outer diameter) of the connecting segment 402 to ensure that the connecting segment 402 is fully embedded within the recessed structure, preventing it from protruding and interfering with the installation of the housing 500. Thus, the semi-cylindrical first bracket 310 with the flat portion 311 optimizes space utilization and enhances assembly ease.

[0085] Continue reading Figure 4In 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 .

[0086] In this embodiment, the first bracket 310 and the second bracket 320 are precisely assembled through the cooperation of positioning pins 312 and positioning holes 313. Specifically, the mounting surface of the first bracket 310 is provided with a plurality of positioning pins 312, which are cylindrical and protrude from the mounting surface. Correspondingly, the mounting surface of the second bracket 320 is provided with positioning holes 313 that correspond one-to-one with the positioning pins 312. The position and size of the positioning holes 313 precisely match the positioning pins 312, ensuring accurate positioning of the two brackets.

[0087] In other embodiments, in addition to setting the positioning hole 313 on the mounting surface of the first bracket 310 and setting the positioning pin 312 on the mounting surface of the second bracket 320, the positioning hole 313 can be set on the mounting surface of the first bracket 310 and the positioning pin 312 can be set on the mounting surface of the second bracket 320.

[0088] During assembly, the conductive filament 400 is first installed into the mounting hole 310a of the first bracket 310, with the contact segment 401 extending through the mounting hole 310a and into the interior of the first bracket 310. Next, the first bracket 310 is aligned with the second bracket 320, with the positioning pin 312 inserted into the positioning hole 313, achieving preliminary positioning and alignment of the two brackets. This positioning mechanism ensures accurate alignment of the two brackets during assembly, preventing misalignment of the conductive filament 400 and poor contact caused by assembly errors.

[0089] When the locating pin 312 is fully inserted into the locating hole 313, the mounting surfaces of the first bracket 310 and the second bracket 320 are tightly aligned, forming a single, integrated structure. Furthermore, the arrangement of the locating pin 312 and the locating hole 313 can prevent assembly errors. For example, by staggering the locating pin 312 and the locating hole 313 on the first bracket 310 and the second bracket 320, respectively, the first bracket 310 and the second bracket 320 can be assembled together in a single, correct manner, avoiding potential misalignment and misalignment during assembly.

[0090] Furthermore, the coordination of the locating pins 312 and the locating holes 313 can improve assembly efficiency. In mass production, the operator only needs to roughly align the two brackets, and the locating pins 312 will automatically guide the two brackets into the correct assembly position, reducing adjustment time and assembly difficulty, thereby improving production efficiency.

[0091] Continue reading Figure 4 In this embodiment, the introduction end 301 of the conductive bracket 300 has a taper.

[0092] In this embodiment, the inlet end 301 of the conductive bracket 300 is tapered, gradually shrinking from the outside to the inside to form a guide structure. The tapered setting is mainly to facilitate the conductive column 200 to better extend into the conductive bracket 300, reduce assembly difficulty, and improve operation convenience.

[0093] For example, the angle of the tapered lead-in end 301 can be set between 15° and 45°, which provides a good guiding effect without excessively weakening the structural strength of the lead-in end 301. The tapered surface can be smoothed to reduce frictional resistance, allowing for smooth insertion of the conductive post 200. The portion of the lead-in end 301 that contacts the conductive post 200 maintains a cylindrical shape, ensuring stability and contact reliability after insertion.

[0094] The present invention further proposes a bionic hand, comprising a hand and a wrist of the bionic hand as in the aforementioned embodiment. The specific structure of the wrist of the bionic hand refers to the aforementioned embodiment. Since the bionic hand adopts all the technical solutions of all the aforementioned embodiments, it has at least all the technical effects brought about by the technical solutions of the aforementioned embodiments, which will not be described one by one here.

[0095] In this embodiment, the bionic hand comprises a palm body and multiple fingers. The palm body is provided with a mounting interface that mates with the mounting end 100b of the wrist mount 100. An electrode plate is positioned at the center of this mounting interface, designed to directly contact the conductive disc 202 on the wrist to establish an electrical connection. The electrode plate is connected to the hand's drive motor, sensors, control circuitry, and other electrical components via internal wires, forming a complete electrical system.

[0096] The palm itself integrates core components such as a microcontroller, multi-channel drive circuits, force feedback sensors, and posture sensors to control finger movement and sense the external environment. Each finger features multiple joints, driven by micromotors, enabling flexion, extension, adduction, and abduction, simulating the dexterity and gripping ability of the human hand. The finger surfaces can be covered with bionic skin material to enhance grip stability.

[0097] To connect the hand and wrist, simply align the wrist mount 100 with the hand's mounting interface and gently push until the two fit together. The conductive disc 202 automatically contacts the electrode plate, while the retaining ring 101 of the mount 100 locks into place with the mounting interface, achieving an integrated mechanical and electrical connection. This greatly simplifies the connection process, eliminating the need for additional cable connections and improving assembly efficiency and ease of use.

[0098] The above description is only a partial or preferred embodiment 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 contents of the present invention specification and drawings under the overall concept of the present invention, or 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 toward the center, and the center of the retaining ring is configured with a through hole; a conductive post, 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, the conductive bracket is provided with an introduction end and a connection end, 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 being inserted from the outer wall of the conductive bracket into the inner wall of the conductive bracket and contacting the conductive post, and the connecting section being exposed from the outer wall of the conductive bracket; The outer shell is sleeved with the conductive bracket, the inner wall of the outer shell contacts the connecting section of the conductive wire, and the outer shell fixes the conductive wire to prevent the conductive column from extending into the conductive bracket and contacting the contact section to push the conductive wire to move.

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 includes a column body and a conductive disk arranged at one end of the column body, the column body extends into the conductive bracket, and the conductive disk 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 hole is provided 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 hole is provided 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 exterior 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 multiple groups of mounting holes arranged at intervals along the axial direction, each group of mounting holes includes two mounting holes corresponding to the two contact segments, and the mounting holes pass through the inner wall of the conductive bracket. After the contact segment passes through the mounting hole, 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 includes a first bracket and a second bracket which are separately arranged. The first bracket is provided with a plurality of mounting holes. 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 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.

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