Bionic finger structure and bionic hand

Abstract

The application relates to a bionic finger structure and a bionic hand, which comprises a connecting seat used for being connected with a palm part of the bionic hand, a proximal joint rotationally connected with the connecting seat, a distal joint rotationally connected with one end of the proximal joint away from the connecting seat, a flexion and extension driving mechanism used for driving the proximal joint and the distal joint to synchronously flex and extend, wherein the flexion and extension driving mechanism comprises a power source, a gear set and a transmission rod set which are transmissionally connected in sequence, and an angle sensor installed at a rotation connection position of the proximal joint and the distal joint to detect the relative rotation angle of the two, which has the advantages of high flexibility, convenient maintenance in the case of power failure and accurate judgment of the relative flexion and extension position of the bionic finger structure.

Description

Technical Field

[0001] This invention relates to the technical field of bionic devices, and in particular to a bionic finger structure and a bionic hand. Background Technology

[0002] As an important component of the bionic hand, the structure of the bionic finger determines the flexibility of the bionic hand, and thus affects its performance.

[0003] Existing bionic finger structures typically use a motor, lead screw, slider, and connecting rod for driving. That is, the motor drives the lead screw to rotate, which causes the slider that cooperates with the lead screw to slide, thereby applying a certain force to the connecting rod, and finally driving the finger joint connected to the corresponding connecting rod to move.

[0004] However, in the above solution, when the motor is powered off, the limiting effect of the slider and lead screw will cause the bionic finger structure to become relatively stuck, making it impossible to pry the fingers open by external force. This will make it difficult to remove the objects held in the bionic hand, which is not conducive to the operator's maintenance. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a bionic finger structure and a bionic hand.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A bionic finger structure, comprising:

[0008] Connector, used to connect to the palm part of the bionic hand;

[0009] The proximal joint is rotatably connected to the connecting seat.

[0010] The distal joint is rotatably connected to the end of the proximal joint away from the connecting seat;

[0011] A flexion-extension drive mechanism is used to drive the proximal joint and the distal joint to flex and extend synchronously; the flexion-extension drive mechanism includes a power source, a gear set, and a transmission rod set connected in sequence.

[0012] An angle sensor is installed at the rotatable connection between the proximal joint and the distal joint to detect the relative rotation angle between them.

[0013] Preferably, the transmission ratio of each stage of the gear set is greater than 1;

[0014] And / or,

[0015] The transmission ratio of the gear set increases progressively.

[0016] Preferably, the gear set includes a driving bevel gear, a first driven bevel gear, a second driven bevel gear, a first spur gear, and a second spur gear;

[0017] The first driven bevel gear is fixedly connected relative to the proximal joint and meshes with the driving bevel gear for transmission.

[0018] The second driven bevel gear is rotatably connected relative to the proximal joint and the connecting seat, and meshes with the driving bevel gear for transmission;

[0019] The first spur gear is coaxially and fixedly connected to the second driven bevel gear;

[0020] The second spur gear is rotatably connected to the proximal joint and meshes with the first spur gear for transmission. The second spur gear is connected to the transmission rod assembly.

[0021] Preferably, the transmission rod assembly includes a first rod, a second rod, a third rod, and a fourth rod;

[0022] One end of the first rod is fixedly connected to the extension shaft of the second spur gear, and the other end is rotatably connected to the second rod;

[0023] The middle part of the third member is rotatably connected to the proximal joint, and its two ends are respectively connected to the end of the second member away from the first member and the end of the fourth member;

[0024] The end of the fourth member furthest from the third member is rotatably connected to the distal joint.

[0025] Preferably, the connector is provided with a mounting area and a hinge hole;

[0026] The mounting area extends from the proximal end to the distal end through the connecting seat to accommodate a portion of the gear set, and the gear set is connected to the power source via a universal joint.

[0027] The hinge hole is located below the mounting area, and the connecting seat is rotatably connected to the palm through the hinge hole.

[0028] A bionic hand includes a palm portion and several bionic finger structures as described above, the bionic finger structures being movably mounted on the palm portion.

[0029] Preferably, the palm portion includes a housing, a mounting cavity formed within the housing, and a connector for connection with the wrist;

[0030] The bionic finger structure has five fingers, four of which are installed on the end of the palm away from the connector to form the index finger, middle finger, ring finger and little finger, and the other finger is installed on the end of the palm relatively close to the connector to form the thumb.

[0031] The bionic hand also includes a finger swinging drive component, which is at least used to drive the index finger, the ring finger and the little finger to move away from or towards each other;

[0032] The power source of the flexion-extension drive mechanism of the bionic finger structure and the finger swing drive component are both installed in the mounting cavity and distributed in the mounting cavity in a direction perpendicular to the end face of the palm.

[0033] Preferably, the connecting seats for the index finger, ring finger, and little finger are all rotatably mounted on the housing via hinge holes and hinge shafts;

[0034] The connecting seats for the index finger, ring finger, and little finger are also provided with arc-shaped guide rails. The central axis of the arc-shaped guide rails coincides with the central axis of the hinge hole, and the arc-shaped guide rails are slidably connected to the first guide post installed on the housing.

[0035] The finger swing drive assembly includes a connecting plate, a second guide post, a sliding plate, and a drive unit;

[0036] The connecting plate is provided in a one-to-one correspondence with the connecting seats of the index finger, ring finger and little finger, and the connecting plate is fixed to the end of the connecting seat of the index finger, ring finger and little finger away from its hinge hole;

[0037] The second guide post is connected to the connecting plate in a one-to-one correspondence;

[0038] The sliding plate is provided with a preset guide rail, and the preset guide rail is slidably connected to the second guide post in a one-to-one correspondence.

[0039] The drive unit is used to drive the sliding plate to slide relative to the housing.

[0040] Preferably, the connecting seat of the middle finger is fixedly connected to the housing;

[0041] The power source of the thumb is located between the power source of the middle finger and the power source of the index finger.

[0042] Preferably, the thumb connector is rotatably mounted on the housing via a hinge hole and a hinge shaft;

[0043] A thumb drive device is provided on one side of the thumb connector to drive the distal joint of the thumb to align with the index finger, the middle finger, the ring finger, or the little finger;

[0044] The thumb drive device includes a bevel rack, a thumb drive bevel gear, and a thumb drive motor; the bevel rack is fixedly installed on the connecting seat, and its central axis coincides with the central axis of the hinge hole; the thumb drive bevel gear is fixedly connected to the rotating shaft of the thumb drive motor and meshes with the bevel rack for transmission.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0046] The bionic finger structure provided by this invention employs a gear set and transmission rod set in its flexion-extension drive mechanism. Compared to existing solutions that use lead screws, sliders, and connecting rods, this increases the flexion-extension response speed and flexibility of the bionic finger structure. Furthermore, it allows for reverse drive of the bionic finger structure even in the event of a power outage, enabling it to move from a bent to an extended state. This facilitates quick removal of objects held by the bionic finger structure, enabling rapid maintenance and avoiding the difficulties caused by the structure locking up. Simultaneously, angle sensors are installed at the rotational connection points of the proximal and distal joints to detect the relative rotation angle between them. This ensures that even after manual force is applied to bend the finger for maintenance, the flexion-extension state of the finger can be quickly determined upon restarting the power source. In other words, through the cooperation of the flexion-extension drive mechanism (gear set and transmission rod set) and the angle sensor, the flexibility of the bionic finger structure in flexion and extension can be increased, and the maintenance of the bionic finger structure and the bionic hand using this structure can be facilitated. Furthermore, maintenance does not affect the accuracy of the finger flexion-extension state (position) judgment. Correspondingly, the bionic hand with the above-mentioned bionic finger structure provided by this invention can increase the flexibility of finger flexion and extension and the convenience of bionic hand maintenance. Attached Figure Description

[0047] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the bionic finger structure provided by the present invention.

[0049] Figure 2 for Figure 1 An explosion diagram.

[0050] Figure 3 for Figure 1A schematic diagram of the structure after partial anatomical dissection of the proximal-mid joint.

[0051] Figure 4 for Figure 3 An enlarged diagram of position D1.

[0052] Figure 5 for Figure 1 A schematic diagram of the structure after the connecting seat and proximal joint have been removed.

[0053] Figure 6 for Figure 5 An enlarged view of position D2 in the middle.

[0054] Figure 7 for Figure 1 A structural diagram from another perspective.

[0055] Figure 8 for Figure 7 A schematic diagram of the section along section AA.

[0056] Figure 9 for Figure 8 An enlarged view of position D3 in the middle.

[0057] Figure 10 This is a schematic diagram of the structure of the bionic hand provided by the present invention.

[0058] Figure 11 for Figure 10 A schematic diagram of the structure after partial cross-section of the middle shell.

[0059] Figure 12 for Figure 11 Enlarged diagram of position D4 in the middle.

[0060] Figure 13 for Figure 11 Enlarged diagram of position D5 in the middle.

[0061] Figure 14 for Figure 11 A schematic diagram showing the connection between the middle housing, the finger swing drive assembly, and part of the connecting seat.

[0062] Figure 15 for Figure 14 Enlarged diagram of position D6 in the middle.

[0063] Figure 16 for Figure 14 Enlarged diagram of position D7 in the middle.

[0064] Figure 17 This is a schematic diagram of another structure of the bionic hand provided by the present invention.

[0065] Figure 18 for Figure 17A schematic diagram of the structure after partial cross-section of the middle shell.

[0066] Figure 19 for Figure 18 An enlarged diagram of position D8 in the middle.

[0067] Explanation of reference numerals in the attached figures:

[0068] 100. Palm part; 101. Housing; 102. Mounting cavity; 103. Connector; 200. Finger swing drive assembly; 201. Connecting plate; 202. Second guide post; 203. Sliding plate; 2031. Preset guide rail; 204. Drive unit; 2041. Threaded hole; 2042. Lead screw; 2043. Sliding drive motor; 300. Hinge shaft; 400. First guide post; 500. Protrusion; 600. Slide groove; 700. Thumb drive device; 701. Bevel rack; 702. Thumb drive bevel gear; 703. 1. Thumb drive motor; 2. Connecting seat; 3. Mounting area; 4. Hinge hole; 5. Arc guide rail; 6. Proximal joint; 7. Distal joint; 8. Flexion-extension drive mechanism; 9. Power source; 10. Gear set; 11. Driving bevel gear; 12. First driven bevel gear; 13. Second driven bevel gear; 14. First spur gear; 15. Second spur gear; 16. Transmission rod assembly; 17. First rod; 18. Second rod; 19. Third rod; 20. Fourth rod; 10. Angle sensor; 11. Universal joint. Detailed Implementation

[0069] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0071] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0072] See Figures 1 to 10 This invention provides a bionic finger structure, including a connecting seat 1, a proximal joint 2, a distal joint 3, a flexion-extension drive mechanism 4, and an angle sensor 5. The connecting seat 1 is used to connect to the palm part 100 of the bionic hand to install the entire bionic finger structure onto the palm part 100. The proximal joint 2 is rotatably connected to the connecting seat 1. The distal joint 3 is rotatably connected to the end of the proximal joint 2 away from the connecting seat 1. The flexion-extension drive mechanism 4 is used to drive the proximal joint 2 and the distal joint 3 to flex and extend synchronously. The flexion-extension drive mechanism 4 includes a power source 41, a gear set 42, and a transmission rod set 43 connected in sequence. The angle sensor 5 is installed at the rotatable connection position of the proximal joint 2 and the distal joint 3 to detect the relative rotation angle between them.

[0073] It is easy to understand that in the above scheme, the flexion-extension drive mechanism 4 adopts a structure of gear set 42 and transmission rod set 43. Compared with the existing scheme that uses lead screw, slider and connecting rod drive, on the one hand, it can increase the response speed of the flexion and extension of the bionic finger structure and increase the flexibility of the flexion and extension movement of the bionic finger structure; on the other hand, it can use external force to achieve reverse drive of the bionic finger structure when the power source 41 fails to operate due to abnormal power failure, so that the bionic finger structure can move from the bent state to the extended state, thereby facilitating the quick removal of the object held by the bionic finger structure, so as to achieve rapid maintenance and avoid the maintenance difficulties caused by the bionic finger structure locking. At the same time, an angle sensor 5 is set at the rotation connection position of the proximal joint 2 and the distal joint 3, which can detect the relative rotation angle of the proximal joint 2 and the distal joint 3, so that even if the finger is manually bent by external force for maintenance, the power source 41 can quickly obtain the flexion and extension state of the finger after it is turned on. That is, through the cooperation of the flexion and extension drive mechanism 4 (gear set 42 and transmission rod set 43) and the angle sensor 5, the flexibility of the flexion and extension of the bionic finger structure can be increased, and the maintenance of the bionic finger structure and the bionic hand using the bionic finger structure can be facilitated. At the same time, the accuracy of the finger flexion and extension state (position) judgment will not be affected after maintenance.

[0074] It is worth noting that "proximal end" here refers to the end that is relatively closer to the connector 1, that is, the end that is relatively closer to the palm part 100 of the bionic hand when the bionic finger structure is used in the bionic hand. Correspondingly, "distal end" refers to the end that is relatively farther away from the connector 1, that is, the end that is relatively farther away from the palm part 100 of the bionic hand when the bionic finger structure is used in the bionic hand.

[0075] It is also worth noting that the angle sensor 5 can be powered by a separate battery.

[0076] Of course, the angle sensor 5 can also adopt a physical judgment structure (such as an angle scale and pointer structure to judge the two relative operating angles of the proximal joint 2 and the distal joint 3).

[0077] See Figures 1 to 10 Each gear set 42 has a transmission ratio greater than 1, and the transmission ratio of the gear set 42 can be increased step by step to increase the torque at the end (i.e., the part corresponding to the distal joint 3), thereby enabling the bionic finger structure to withstand a heavier load and achieve the gripping of heavier objects.

[0078] It is easy to understand that, compared to the transmission structure formed by lead screws, sliders, and connecting rods, this embodiment can not only ensure the flexibility of the bionic finger structure, enabling quick grasping or releasing of objects, but also ensure, to a certain extent, that it can grasp objects of a certain weight and ensure the stability of the grasp.

[0079] Specifically, the gear set 42 includes a driving bevel gear 420, a first driven bevel gear 421, a second driven bevel gear 422, a first spur gear 423, and a second spur gear 424. The first driven bevel gear 421 is fixedly connected to the proximal joint 2 and meshes with the driving bevel gear 420 for transmission. The second driven bevel gear 422 is rotatably connected to the proximal joint 2 and the connecting seat 1, and meshes with the driving bevel gear 420 for transmission. The first spur gear 423 is coaxially fixedly connected to the second driven bevel gear 422. The second spur gear 424 is rotatably connected to the proximal joint 2 and meshes with the first spur gear 423 for transmission. The second spur gear 424 is connected to the transmission rod assembly 43.

[0080] Furthermore, the first driven bevel gear 421 and the second driven bevel gear 422 are symmetrically arranged about the driving bevel gear 420, and the number of teeth of both the first driven bevel gear 421 and the second driven bevel gear 422 is greater than the number of teeth of the driving bevel gear 420, so that the transmission ratio of this stage is greater than 1. Similarly, the number of teeth of the second spur gear 424 is also greater than that of the first spur gear 423, so that the transmission ratio of this stage is greater than 1.

[0081] Furthermore, the transmission rod assembly 43 includes a first rod 431, a second rod 432, a third rod 433, and a fourth rod 434. One end of the first rod 431 is fixedly connected to the extension shaft of the second spur gear 424, and the other end is rotatably connected to the second rod 432. The middle part of the third rod 433 is rotatably connected to the proximal joint 2, and both ends are connected to the end of the second rod 432 away from the first rod 431 and the end of the fourth rod 434, respectively. The end of the fourth rod 434 away from the third rod 433 is rotatably connected to the distal joint 3.

[0082] In this embodiment, the power source 41 is configured as an electric motor.

[0083] It is worth noting that the connecting seat 1, proximal joint 2, first driven bevel gear 421, second driven bevel gear 422, and first spur gear 423 are rotatably connected by the same shaft (i.e., their central axes coincide); the second spur gear 424 and the third rod 433 are both rotatably connected to the proximal joint 2, but they are not on the same axis; the first rod 431, the second rod 432, and the fourth rod 434 are located in the empty area on the proximal joint 2 and are not connected to the proximal joint 2; the distal joint 3 is rotatably connected to the proximal joint 2 by a shaft, and one end of the distal joint 3 is also rotatably connected to one end of the fourth rod 434 by a shaft, and the central axes of the two shafts do not coincide.

[0084] Of course, in other embodiments, a preset guide groove can also be provided on the proximal joint 2, and the ends of the first rod 431, the second rod 432, and the fourth rod 434 can also be slidably installed in the preset guide groove through the rotating shaft. In this case, the opening position and structure of the preset guide groove need to be set according to the actual running trajectory of the corresponding rod ends.

[0085] It is not difficult to understand that the specific flexion and extension movement process of the bionic finger structure is as follows:

[0086] The power source 41 drives the active bevel gear 420 to rotate via the universal joint 6, which in turn drives the first driven bevel gear 421 and the second driven bevel gear 422 to rotate. During the rotation of the first driven bevel gear 421, the proximal joint 2 rotates relative to the connecting seat 1. During the rotation of the second driven bevel gear 422, the first spur gear 423 rotates synchronously. The first spur gear 423 meshes with the second spur gear 424, thereby driving the first link 431. The motion is transmitted between the first link 431, the second link 432, the third link 433 (oscillating), and the fourth link 434, and then transmitted to the distal joint 3 through the fourth link 434, so that the distal joint 3 rotates synchronously with the proximal joint 2, thereby realizing the flexion and extension movement of the bionic finger structure.

[0087] See Figures 1 to 10The connecting seat 1 is provided with a mounting area 11 and a hinge hole 12; the mounting area 11 extends through the connecting seat 1 from the proximal end to the distal end to accommodate a portion of the gear set 42, and the gear set 42 is connected to the power source 41 via a universal joint 6; the hinge hole 12 is located below the mounting area 11, and the connecting seat 1 is rotatably connected to the palm part 100 of the bionic hand via the hinge hole 12.

[0088] It is easy to understand that in this embodiment, through the cooperation of the universal joint 6, the connecting seat 1 and the flexion-extension drive mechanism 4, the connecting seat 1 can synchronously drive the proximal joint 2, the distal joint 3, the gear set 42 and the transmission rod set 43 to rotate around the central axis of the hinge hole 12, thereby realizing the swing of the bionic finger structure and further increasing the flexibility of the finger. At the same time, it does not affect the flexion-extension drive mechanism 4 from driving the proximal joint 2 and the distal joint 3 to flex and extend.

[0089] See Figures 10 to 16 This embodiment also provides a bionic hand, including a palm portion 100 and a plurality of the above-described bionic finger structures, wherein the bionic finger structures are movably mounted on the palm portion 100.

[0090] Specifically, the palm portion 100 includes a housing 101, a mounting cavity 102 formed within the housing 101, and a connector 103 for connection with the wrist; the bionic finger structure has five fingers, four of which are mounted on the end of the palm portion 100 away from the connector 103 to form the index finger, middle finger, ring finger, and little finger, and the other finger is mounted on the end of the palm portion 100 relatively close to the connector 103 to form the thumb; the bionic hand also includes a finger swinging drive assembly 200, which is used to drive the index finger, ring finger, and little finger to move relatively away from or closer to each other; the power source 41 of the flexion and extension drive mechanism 4 of the bionic finger structure and the finger swinging drive assembly 200 are both mounted in the mounting cavity 102, and are located in the mounting cavity 102 along a direction perpendicular to the end face of the palm portion 100 (i.e., Figure 10 and Figure 11 The distribution is shown in the Y direction and the opposite direction of the Y direction.

[0091] What is not understood is that, in this embodiment, the finger-swinging drive assembly 200 can achieve the relative closeness or distance of multiple bionic finger structures, further increasing the flexibility of the bionic hand. At the same time, compared with the original method of using a motor to drive the swing of each finger individually, it can effectively reduce the use of motors, thereby reducing the size and weight of the bionic hand. Meanwhile, the power source 41 and the finger-swinging drive assembly 200 are distributed in the mounting cavity 102 along a direction perpendicular to the end face of the palm 100. On the one hand, it can make the structure more compact while avoiding interference between the movements of the two, further reducing the size of the bionic hand. On the other hand, the two structures support the two end faces (palm and back of the hand) of the housing 101, preventing excessive deformation of the housing 101.

[0092] Furthermore, the connecting seats 1 for the index finger, ring finger, and little finger are all rotatably mounted on the housing 101 via hinge holes 12 and hinge shafts 300; the connecting seats 1 for the index finger, ring finger, and little finger are also provided with arc-shaped guide rails 13, the central axis of which coincides with the central axis of the hinge holes 12, and the arc-shaped guide rails 13 are slidably connected to the first guide post 400 mounted on the housing 101; the finger swing drive assembly 200 includes a connecting plate 201, a second guide post 202, a sliding plate 203, and... The drive unit 204; the connecting plate 201 is provided with a corresponding connecting seat 1 for the index finger, ring finger and little finger, and the connecting plate 201 is fixed to the end of the connecting seat 1 for the index finger, ring finger and little finger away from its hinge hole 12; the second guide post 202 is connected to the connecting plate 201 in a corresponding manner; the sliding plate 203 is provided with a preset guide rail 2031, and the preset guide rail 2031 is slidably connected to the second guide post 202 in a corresponding manner; the drive unit 204 is used to drive the sliding plate 203 to slide relative to the housing 101.

[0093] It is easy to understand that when the sliding plate 203 is driven to slide by the drive unit 204, the interaction between the abutting surfaces of the preset guide rail 2031 and the second guide post 202 enables the connecting plate 201 and its corresponding connecting seat 1 to swing, thereby realizing the swinging of the bionic finger structure. The first guide post 400 and the arc guide rail 13 cooperate with each other to ensure that the bionic finger structure rotates around the preset axis (i.e., the central axis of the hinge hole 12), making the operating trajectory of the bionic finger structure more stable.

[0094] Furthermore, the drive unit 204 can be configured in various ways, as long as it can drive the sliding plate 203 to slide relative to the housing 101.

[0095] In this embodiment, the drive unit 204 includes a threaded hole 2041, a lead screw 2042, and a sliding drive motor 2043. The threaded hole 2041 is disposed on the sliding plate 203, and the lead screw 2042 is threadedly connected to the threaded hole 2041 and driven by the sliding drive motor 2043, thereby driving the sliding plate 203 to slide.

[0096] It should be understood that, since the opening angle between two adjacent bionic finger structures is generally not too large, the use of threaded hole 2041, lead screw 2042 and sliding drive motor 2043 can achieve stable adjustment.

[0097] Furthermore, the sliding plate 203 may have a protrusion 500 at its upper end, and the protrusion 500 and the sliding groove 600 on the inner wall of the housing 101 shall be used to slide and engage to achieve a sliding connection between the sliding plate 203 and the housing 101.

[0098] Of course, in other embodiments, the drive unit 204 may also be configured as an electric actuator or a cylinder, etc.

[0099] See Figures 10 to 16 The middle finger connector 1 is fixedly connected to the housing 101; the power source 41 of the thumb is located between the power source 41 of the middle finger and the power source 41 of the index finger.

[0100] It is easy to understand that since the index finger is fixedly connected to the palm 100, it will not move towards the adjacent bionic finger structure. Therefore, in this embodiment, the power source 41 of the thumb is set between the power source 41 of the middle finger and the power source 41 of the index finger, which can further make the bionic hand structure more compact, while not affecting the swing of the index finger (i.e., moving away from or towards the middle finger).

[0101] See Figure 10 and Figure 11 In this embodiment, the connecting seats 1 for the middle finger and thumb are both fixedly installed on the housing 101, that is, the middle finger and thumb can only bend and extend, and at this time, the thumb is aligned with the middle finger position to ensure the stability of gripping the object.

[0102] See Figures 17 to 19 In this embodiment, the thumb connector 1 is rotatably mounted on the housing 101 via the hinge hole 12 and the hinge shaft 300. A thumb drive device 700 is provided on one side of the thumb connector 1 to drive the distal joint 3 of the thumb to align with the index finger, middle finger, ring finger, or little finger. That is, the thumb drive device 700 can drive the thumb to swing, so that the thumb aligns with different fingers as needed, achieving pinching between the thumb and different fingers.

[0103] Specifically, the thumb drive device 700 includes a bevel rack 701, a thumb drive bevel gear 702, and a thumb drive motor 703; the bevel rack 701 is fixedly installed on the connecting seat 1, and its central axis coincides with the central axis of the hinge hole 12; the thumb drive bevel gear 702 is fixedly connected to the rotating shaft of the thumb drive motor 703, and meshes with the bevel rack 701 for transmission.

[0104] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A bionic hand, comprising a palm portion (100) and bionic finger structures movably mounted on said palm portion (100), characterized in that, The palm portion (100) includes a housing (101), a mounting cavity (102) formed in the housing (101), and a connector (103) for connecting to the wrist. The bionic finger structure includes: Connector (1) for connecting to the palm part (100) of the bionic hand; The proximal joint (2) is rotatably connected to the connecting seat (1); The distal joint (3) is rotatably connected to the proximal joint (2) at the end away from the connecting seat (1); The flexion-extension drive mechanism (4) is used to drive the proximal joint (2) and the distal joint (3) to flex and extend synchronously; the flexion-extension drive mechanism (4) includes a power source (41), a gear set (42) and a transmission rod set (43) connected in sequence. The connector (1) is provided with an installation area (11) and a hinge hole (12); The mounting area (11) extends through the connecting seat (1) from the proximal end to the distal end to accommodate a portion of the gear set (42), and the gear set (42) is connected to the power source (41) via a universal joint (6). The hinge hole (12) is located below the mounting area (11), and the connecting seat (1) is rotatably connected to the palm part (100) through the hinge hole (12); The bionic finger structure is provided with five fingers, four of which are installed at the end of the palm (100) away from the connector (103) to form the index finger, middle finger, ring finger and little finger, and the other finger is installed at the end of the palm (100) relatively close to the connector (103) to form the thumb. The bionic hand also includes a finger swinging drive component (200), which is at least used to drive the index finger, the ring finger and the little finger to move away from or towards each other; The power source (41) of the flexion and extension drive mechanism (4) of the bionic finger structure and the finger swing drive assembly (200) are both installed in the mounting cavity (102) and distributed in the mounting cavity (102) in a direction perpendicular to the end face of the palm (100).

2. The bionic hand according to claim 1, characterized in that, The transmission ratio of each stage of the gear set (42) is greater than 1; And / or, The transmission ratio of the gear set (42) increases step by step.

3. A bionic hand according to claim 2, characterized in that, The gear set (42) includes a driving bevel gear (420), a first driven bevel gear (421), a second driven bevel gear (422), a first spur gear (423), and a second spur gear (424); The first driven bevel gear (421) is fixedly connected relative to the proximal joint (2) and meshes with the driving bevel gear (420) for transmission; The second driven bevel gear (422) is rotatably connected relative to the proximal joint (2) and the connecting seat (1), and meshes with the driving bevel gear (420) for transmission; The first spur gear (423) is coaxially fixedly connected to the second driven bevel gear (422); The second spur gear (424) is rotatably connected to the proximal joint (2) and meshes with the first spur gear (423) for transmission. The second spur gear (424) is connected to the transmission rod assembly (43).

4. A bionic hand according to claim 3, characterized in that, The transmission rod assembly (43) includes a first rod (431), a second rod (432), a third rod (433), and a fourth rod (434). One end of the first rod (431) is fixedly connected to the extension shaft of the second spur gear (424), and the other end is rotatably connected to the second rod (432); The middle part of the third member (433) is rotatably connected to the proximal joint (2), and its two ends are respectively connected to the end of the second member (432) away from the first member (431) and the end of the fourth member (434); The end of the fourth member (434) away from the third member (433) is rotatably connected to the distal joint (3).

5. A bionic hand according to claim 1, characterized in that, The bionic finger structure also includes an angle sensor (5); The angle sensor (5) is installed at the rotatable connection position between the proximal joint (2) and the distal joint (3) to detect the relative rotation angle between them.

6. A bionic hand according to claim 5, characterized in that, The connecting seats (1) for the index finger, ring finger and little finger are all rotatably mounted on the housing (101) through the hinge hole (12) and the hinge shaft (300); The connecting seat (1) for the index finger, ring finger and little finger is also provided with an arc guide rail (13). The central axis of the arc guide rail (13) coincides with the central axis of the hinge hole (12), and the arc guide rail (13) is slidably connected to the first guide post (400) installed on the housing (101). The finger swing drive assembly (200) includes a connecting plate (201), a second guide post (202), a sliding plate (203), and a drive unit (204). The connecting plate (201) is provided in a one-to-one correspondence with the connecting seat (1) of the index finger, ring finger and little finger, and the connecting plate (201) is fixed at the end of the connecting seat (1) of the index finger, ring finger and little finger away from its hinge hole (12); The second guide post (202) is connected to the connecting plate (201) in a one-to-one correspondence; The sliding plate (203) is provided with a preset guide rail (2031), and the preset guide rail (2031) is slidably connected to the second guide post (202) in a one-to-one correspondence; The drive unit (204) is used to drive the sliding plate (203) to slide relative to the housing (101).

7. A bionic hand according to claim 1 or 6, characterized in that, The connecting seat (1) of the middle finger is fixedly connected to the housing (101); The power source (41) of the thumb is located between the power source (41) of the middle finger and the power source (41) of the index finger.

8. A bionic hand according to claim 1, characterized in that, The thumb connector (1) is rotatably mounted on the housing (101) via the hinge hole (12) and the hinge shaft (300); The thumb connector (1) is provided with a thumb drive device (700) on one side to drive the distal joint (3) of the thumb to align with the index finger, the middle finger, the ring finger or the little finger. The thumb drive device (700) includes a bevel rack (701), a thumb drive bevel gear (702), and a thumb drive motor (703); the bevel rack (701) is fixedly installed on the connecting seat (1), and its central axis coincides with the central axis of the hinge hole (12); the thumb drive bevel gear (702) is fixedly connected to the rotating shaft of the thumb drive motor (703), and meshes with the bevel rack (701) for transmission.

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