Dexterous hand bionic finger bending fatigue testing machine and testing method thereof

Abstract

The invention discloses a dexterous hand bionic finger bending fatigue testing machine and a testing method thereof, and relates to the technical field of bionic finger tests.The dexterous hand bionic finger bending fatigue testing machine comprises a bottom box, a platform plate is fixedly connected to the top of the bottom box, a mounting interface base is fixedly connected to the upper surface of the platform plate, a bionic dexterous hand is inserted into the mounting interface base, and a plurality of lifting boxes are slidably connected into the bottom box; balancing weights are detachably stacked in the lifting boxes, and stabilizing wheels corresponding to the lifting boxes are rotationally connected to the platform plate. The bending fatigue test of the bionic dexterous hand can be performed in different degrees by increasing different numbers of balancing weights, so that fingers of the bionic dexterous hand can be bent and circulated under different external loads, light-load life verification can be performed, heavy-load accelerated fatigue test can also be performed, and the application range is wider; different bionic dexterous hands have different finger rigidities, sizes and materials, and required test loads are different; the balance weight can be increased or decreased, so that the device can adapt to multiple models and multiple schemes without replacing the main mechanism, and the universality is improved.

Description

Technical Field

[0001] This invention relates to the field of bionic finger testing technology, and more specifically, to a dexterous hand bionic finger bending fatigue testing machine and its testing method. Background Technology

[0002] Existing bionic robotic hands (also known as dexterous hands) typically consist of a palm and multiple bionic fingers. The fingers are often multi-jointed structures, achieving flexion and extension movements through motor-gear, tendon / wire traction, linkage mechanisms, or flexible drives to simulate human hand grasping, hooking, and pinching. As service robots, industrial collaboration, rehabilitation aids, and specialized operations place higher demands on precision manipulation, dexterous hands not only require greater degrees of freedom and better motion consistency but also need to maintain stable output under conditions of long-term repetitive bending and repeated load grasping. Therefore, durability and fatigue life assessments of finger joints, linkages / tendons, and fingertip contact points have become crucial aspects of dexterous hand research, verification, and engineering applications.

[0003] However, in actual testing, existing finger bending fatigue tests often rely on fixed test loads or require changing the entire loading mechanism to alter the load, making it difficult to adapt to the load requirements of fingers made of different materials and sizes. This results in poor versatility of the same device and high testing costs. Furthermore, common tests often focus on single fingers, requiring multiple fingers to be tested in batches or with different devices, leading to longer testing times, inconsistent environments and control strategies, and reduced reliability of cross-sectional comparisons. At the same time, the load application point often deviates from the actual force-bearing position of the fingertip, failing to fully simulate the force-bearing conditions of the fingertip during grasping and hooking, and easily overlooking weak points in joints and transmission. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a dexterous hand bionic finger bending fatigue testing machine and its testing method.

[0005] The technical solution is as follows: A dexterous hand bionic finger bending fatigue testing machine includes a base box, a platform plate fixedly connected to the top of the base box, an installation interface seat fixedly connected to the upper surface of the platform plate, a bionic dexterous hand body inserted into the installation interface seat, a top box fixedly connected to the platform plate, a window opened on the outer surface of the top box, and two door panels rotatably connected to the outer side of the top box. Multiple lifting boxes are slidably connected inside the base box, and counterweights can be detachably stacked inside the lifting boxes. The platform plate is rotatably connected to stabilizing wheels corresponding to each lifting box; A pull rope is fixedly connected to the top of the lifting box. The pull rope is wound around the stabilizing wheel and a fixed ring is fixedly connected to the end. The fixed ring is used to fix the fingertip of the bionic dexterous hand body so that when the finger bends, it pulls the lifting box up and down and the weight of the counterweight forms a bending fatigue load on the fingertip. Multiple lifting boxes correspond to multiple fixed rings to achieve synchronous bending fatigue testing of multiple fingers with independent weights.

[0006] Furthermore, multiple limiting frames are fixedly connected to the inside of the base box, and the corresponding lifting box is slidably connected within each limiting frame to guide and limit the lifting process of the lifting box and reduce the swing load.

[0007] Furthermore, a fixed base is fixedly connected to the upper surface of the platform plate and the side away from the mounting interface seat. Multiple stabilizing wheels are rotatably connected to the top of the fixed base, and the multiple stabilizing wheels correspond one-to-one with multiple lifting boxes.

[0008] Furthermore, the fixing ring has a hole, and a screw is threaded onto the side of the fixing ring away from the pull rope. The fixing ring is fitted onto the fingertip through the hole and locked by the screw, so as to improve the reliability of the fingertip traction point fixation and reduce the load error caused by slippage.

[0009] Furthermore, the lifting box has a limiting hole one, and the counterweight has a limiting hole two corresponding to the position of the limiting hole one. A limiting rod is inserted into the limiting hole one, and the limiting rod passes through the limiting hole two of the counterweight to detachably fix the selected number of counterweights, thereby realizing the rapid adjustment and replacement of the number of counterweights.

[0010] Furthermore, the first limiting hole is composed of a combination of square and circle, with the square located above the circle. The shape of the second limiting hole is adapted to the first limiting hole to limit the insertion posture of the limiting rod and improve the consistency of the counterweight assembly positioning.

[0011] Furthermore, a fixed plate is fixedly connected to one end of the limit rod on the outside of the base box, and a guide rod is fixedly connected to the fixed plate. A handle is fixedly connected to the side of the fixed plate away from the limit rod, and a limit block is fixedly connected to the end of the limit rod away from the fixed plate. The handle drives the limit rod to rotate so that the limit block switches between the insertion state and the locking state, thereby realizing the quick locking of the limit rod and preventing the limit rod from coming out during the lifting process. Two door panels are rotatably connected between the top box and the base box. Multiple slots are opened on both door panels. A fixed frame is fixedly connected to the top inner side of the top box by bolts. The end of the pull rope near the fixed ring is stuck on the fixed frame.

[0012] Furthermore, the base box is equipped with a detection component for classifying and recording the bending condition after the test. The detection component includes a side plate fixedly connected to the inside of the base box, a display module fixedly connected to the outer surface of the side plate, a limit plate fixedly connected between the base box and the platform plate, a touch module fixedly connected to the limit plate, a lifting linkage fixedly connected to the outside of the lifting box, and an abutment plate fixedly connected to the end of the lifting linkage. The abutment plate moves up and down with the lifting box and sequentially touches the touch module, and the display module records and displays the results, so as to realize the classification and recording of the bending degree after the fatigue test.

[0013] A Dexterous Hand Bionic Finger Bending Fatigue Testing Method Step 1: Open door panel one, insert the bionic dexterous hand body into the mounting interface socket and complete the power supply and signal connection, then close door panel one; Step 2: Select the number of counterweights according to the target test load, turn the handle to put the limit block into the insertion state and pull out the limit rod, align the limit rod with the target limit hole one, insert it and pass through the corresponding counterweight's limit hole two, then turn the handle again to put the limit block into the locking state to prevent the limit rod from coming out during the lifting and lowering process of the lifting box. Step 3: Remove the pull rope from the fixing frame, place the fixing ring on the fingertip of the finger to be tested, and tighten the screw to complete the fixation; when multiple fingers need to be tested simultaneously, fix multiple fixing rings on the fingertips of multiple fingers respectively; Step 4: The controller drives the fingers of the bionic dexterous hand to repeatedly bend, coil, and straighten. During the bending process, the fingers are pulled by the fixed ring and the lifting box is driven to rise through the stabilizing wheel, thereby applying an external load to the fingertip and forming a bending fatigue cycle. Step 5: During the lifting process of the lifting box, the lifting linkage drives the contact plate to move upward and touch the touch module in sequence to trigger the graded lighting prompts. At the same time, the display module records and displays the lighting level and the test process / results to obtain the bending capacity evaluation results after the fatigue test.

[0014] Based on the above, the beneficial effects of the dexterous hand bionic finger bending fatigue testing machine and its testing method in this invention are as follows: By adding different numbers of counterweights, the bending fatigue test of the bionic dexterous hand can be conducted to varying degrees. This allows the fingers of the bionic dexterous hand to undergo bending cycles under different external loads, enabling both light-load life verification and heavy-load accelerated fatigue testing. This broadens its applicability, as different bionic dexterous hand bodies have different finger stiffness, size, and materials, requiring different test loads. The ability to add or remove counterweights allows the device to adapt to multiple models and solutions without changing the main mechanism, improving its versatility. By fixing the fixing rings on multiple pull ropes to the fingertips of multiple fingers of the bionic dexterous hand body, multiple fingers can undergo fatigue cycles in the same device and at the same time, which significantly shortens the cycle of bending fatigue testing of the whole machine and improves testing efficiency. Moreover, the multiple fingers of the bionic dexterous hand body operate in the same time, temperature and humidity, and control strategy, and the testing environment is consistent. The difference in fatigue life of different fingers can better reflect the differences in structural assembly and materials themselves, which is convenient for horizontal comparison and consistency evaluation. By fixing the retaining ring to the fingertips of the bionic dexterous hand, the gravity of the pulled counterweight will act on the fingertips of the bionic dexterous hand, applying an external load to the fingertips and forming a clear bending moment distribution. This is closer to the actual force on the fingertips when grasping and hooking objects, which helps to expose real weak points such as joints and links, and thus can more effectively and realistically test the degree of bending fatigue of the fingers of the bionic dexterous hand. By abutting against the outer surface of the lifting box, the limiting rod can be restricted on the lifting box. At this time, the limiting rod cannot be pulled out, ensuring that the limiting rod can remain stable after being inserted into the limiting hole. The limiting rod will not loosen or even fall off as the lifting box is continuously pulled upward. The touch module illuminates to provide reminders, while the test results are recorded and displayed via the display module. This allows for the assessment of the bionic dexterous hand's fatigue test results, enabling operators to quickly obtain test conclusions without needing to physically inspect or read curves, thus reducing the probability of misjudgment. The touch module's light display not only provides different color reminders but also offers graded indications of attenuation levels. This facilitates comparative analysis of records under different structural schemes, materials, or load levels, leading to lifespan and reliability conclusions that are more closely aligned with engineering applications. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the overall components of the present invention; Figure 2 This is a three-dimensional schematic diagram of the lifting box, lifting linkage, contact plate, and other components of the present invention. Figure 3 This is a three-dimensional cross-sectional view of the limiting frame, lifting box, counterweight, and other components of the present invention. Figure 4 This is a three-dimensional cross-sectional view of the overall components of the present invention; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of component A in the middle; Figure 6 This is a three-dimensional schematic diagram of the limiting rod, fixing plate, pointing rod, handle, and other components of the present invention; Figure 7This is a three-dimensional schematic diagram of the limiting hole one, limiting hole two, limiting rod and other components of the present invention; Figure 8 This is a three-dimensional schematic diagram of the door panel, slot, handle, and other components of the present invention; Figure 9 For the present invention Figure 2 Enlarged schematic diagram of component at point B; Figure 10 This is a three-dimensional schematic diagram of the components of the present invention, such as the pull rope and the fixing frame.

[0016] The reference numerals in the appendix of this invention are as follows: 1. Base box; 2. Platform plate; 3. Top box; 4. Window; 5. Door panel one; 6. Mounting interface socket; 7. Bionic dexterous hand body; 81. Fixed base; 82. Stabilizing wheel; 83. Limiting frame; 84. Lifting box; 85. Counterweight; 86. Limiting hole one; 87. Limiting hole two; 88. Limiting rod; 89. Fixed plate; 810. Pointing rod; 811. Handle; 812. Limiting block; 813. Pull rope; 814. Fixing ring; 815. Screw; 816. Door panel two; 817. Slot; 818. Fixed bracket; 91. Side panel; 92. Display module; 93. Limiting plate; 94. Touch module; 95. Lifting linkage; 96. Contact plate. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] The embodiments provided by the present invention will be described in detail below: Example 1: As Figures 1 to 8 and Figure 10 As shown, a dexterous hand bionic finger bending fatigue testing machine includes a base box 1 and a bionic dexterous hand body 7. A platform plate 2 is fixedly connected to the top of the base box 1, and a top box 3 is fixedly connected to the top of the platform plate 2. A window 4 is provided on the outer side of the top box 3, and a door panel 5 is rotatably connected to the side of the top box 3. An installation interface seat 6 is fixedly connected to the upper surface of the platform plate 2 and the side near the door panel 5 by bolts. The bionic dexterous hand body 7 is inserted into the installation interface seat 6. A counterweight component for bending fatigue testing of the finger area of ​​the bionic dexterous hand body 7 is provided on the platform plate 2. It should be noted that, referring to Figure 1As shown, the front of both the base box 1 and the top box 3 is designed with a hollowed-out style. The hollowed-out part of the top box 3 is a window 4, and the window 4 is equipped with glass, which is only used to observe the state of the bionic dexterous hand body 7 during the bending fatigue test. The interior of the base box 1 is connected to the interior of the top box 3. The bionic dexterous hand body 7 is existing technology. How to perform specific activities refers to existing technology. The mounting interface 6 is a common structure of existing bionic dexterous hand bodies 7. It can provide power and signal transmission to the bionic dexterous hand body 7, enabling the finger parts of the bionic dexterous hand body 7 to perform bending activities after receiving electrical signals.

[0019] The counterweight assembly includes a fixed base 81 bolted to the upper surface of the platform plate 2 away from the mounting interface seat 6. Multiple stabilizing wheels 82 arranged in a linear array are rotatably connected to the top of the fixed base 81. Multiple limiting frames 83 arranged in a linear array are fixedly connected inside the base box 1. The limiting frames 83 extend upwards into the interior of the top box 3, with space between each pair of limiting frames 83. A lifting box 84 is provided between each pair of limiting frames 83. Each lifting box 84 contains a counterweight block 85. Multiple limiting holes 86 arranged in a linear array are provided on the lifting box 84. Each counterweight block 85 has a limiting hole 87 corresponding to the position of the limiting hole 86. Two door panels 816 are rotatably connected between the base box 1 and the top box 3 on the side away from the door panel 5. Multiple slots 81 corresponding to the positions of the multiple lifting boxes 84 are provided on both door panels 816. 7. A limiting rod 88 is inserted into one of the limiting holes 86. The limiting rod 88 extends through the slot 817 to the outside of the base box 1. A fixing plate 89 is fixedly connected to one end of the limiting rod 88 on the outside of the base box 1. A guide rod 810 is fixedly connected to the top of the fixing plate 89. A handle 811 is fixedly connected to the side of the fixing plate 89 away from the limiting rod 88. A limiting block 812 is fixedly connected to the bottom of the end of the limiting rod 88 away from the fixing plate 89. A pull rope 813 is fixedly connected to the top of each lifting box 84. Each pull rope 813 rolls against an adjacent stabilizing wheel 82. A fixing ring 814 is fixedly connected to the top of each pull rope 813. A screw 815 is threadedly connected to the side of each fixing ring 814 away from the pull rope 813. A fixing frame 818 is fixedly connected to the top of the inner side of the top box 3 by bolts. The ends of multiple pull ropes 813 near the fixing ring 814 are stuck at the bottom of the fixing frame 818.

[0020] It should be noted that the first limiting hole 86 is a combination of a square and a circle, with the square on top of the circle. The shape of the second limiting hole 87 matches the shape of the first limiting hole 86. The shapes of the first limiting hole 86 and the second limiting hole 87 match the shape of the combination of the limiting rod 88 and the limiting block 812, so that the limiting rod 88 can be inserted into the interior of the second limiting hole 87. The end of the pull rope 813 near the fixing ring 814 is provided with a section of hard metal material, so that the pull rope 813 can be effectively locked with the fixing frame 818. The pull rope 813 is locked in the fixing frame 818 mainly to facilitate the staff to pick it up when conducting bending fatigue testing on the bionic dexterous hand body 7. The fixing ring 814 has a hole, so that the fixing ring 814 is fitted onto the fingertip of the bionic dexterous hand body 7 through the hole. The end of the screw 815 that passes through the hole in the fixing ring 814 is fixedly connected to an anti-slip pad, which can then adhere to the outer surface of the finger of the bionic dexterous hand body 7.

[0021] When not in use, multiple pull ropes 813 are secured to the fixing frame 818, and the limiting rod 88 is inserted into the topmost limiting hole 86. The limiting rod 88 is also inserted into the second limiting hole 87 of the topmost counterweight 85.

[0022] Specifically, when performing bending fatigue testing on the bionic dexterous hand body 7, the door panel 5 can be opened first, and then the bionic dexterous hand body 7 can be inserted into the mounting interface 6. Power is supplied to the bionic dexterous hand body 7 through the mounting interface 6. At the same time, signal transmission can be achieved after the mounting interface 6 is connected to the bionic dexterous hand body 7. The controller can control the fingers of the bionic dexterous hand body 7 to perform different degrees of bending, coiling, and straightening. After the bionic dexterous hand body 7 is installed, the door panel 5 is closed. At this time, the pull rope 813 is pulled down from the fixing frame 818. This allows the pull rope 813 to disengage from the fixing frame 818. Next, the hole of the fixing ring 814 is aligned with the space between the fingers of the bionic dexterous hand body 7, allowing the fixing ring 814 to fit between the fingers. Finally, the screw 815 is tightened, and the anti-slip pad at one end of the screw 815 will firmly contact the fingertips of the bionic dexterous hand body 7, thus fixing the fixing ring 814 to the fingertips. Then, the controller controls the fingers of the bionic dexterous hand body 7 to perform repeated bending and straightening movements. When the fingers of the bionic dexterous hand body 7 bend, the fingers pull the pull rope 813 through the fixing ring 814, causing the pull rope 813 to move on the stabilizing wheel 82. The stabilizing wheel 82 is used to support the movement of the pull rope 813 and reduce friction. At this time, the pull rope 813 will pull the lifting box 84 to move upward between the limiting frame 83. At this time, the lifting box 84 moves upward by pulling the lifting box 84. When the lifting box 84 moves upward, the limiting rod 88 will drive the topmost counterweight 85 to move upward synchronously through the limiting hole 86. By applying a traction counterweight when the fingers of the bionic dexterous hand body 7 are bent, and because the fixing ring 814 is fixed at the fingertips of the fingers of the bionic dexterous hand body 7, the gravity of the traction counterweight 85 will act on the fingertips of the bionic dexterous hand body 7, applying an external load to the fingertips of the bionic dexterous hand body 7, forming a clear bending moment distribution, which is closer to the working condition of the fingertips when actually grasping and hooking objects. This helps to expose real weak points such as joints and links, and thus can more effectively and realistically test the degree of bending fatigue of the fingers of the bionic dexterous hand body 7.

[0023] Furthermore, since there are multiple lifting boxes 84, and each lifting box 84 is equipped with a pull rope 813, the fixing rings 814 on the multiple pull ropes 813 can be fixed to the fingertips of multiple fingers of the bionic dexterous hand body 7 respectively. Thus, multiple fingers can undergo fatigue cycles in the same device and at the same time, which significantly shortens the cycle of bending fatigue testing of the whole machine and improves testing efficiency. Moreover, since multiple fingers of the bionic dexterous hand body 7 operate in the same time, temperature and humidity, and control strategy, the testing environment is consistent. The difference in fatigue life of different fingers can better reflect the differences in structural assembly and materials themselves, which is convenient for horizontal comparison and consistency evaluation.

[0024] Furthermore, when conducting different degrees of bending fatigue tests on the fingers of the multi-bionic dexterous hand body 7, the number of counterweights 85 that the lifting box 84 can drive can be increased. To do this, the operator needs to pull out the limit rod 88. While pulling out the limit rod 88, the operator holds the handle 811 and rotates it 180 degrees. The handle 811 will drive the fixing plate 89 to rotate synchronously, and the fixing plate 89 will drive the pointing rod 810 to rotate downwards. By observing the position of the pointing rod 810, the operator can determine whether the handle 811 has rotated 180 degrees. During the rotation of the fixing plate 89, the limit rod 88 will rotate synchronously 180 degrees, at which point the limit rod 88 will drive the limit block 812 to rotate upwards. In this state, the limiting block 812 corresponds exactly to the square position of the limiting hole 86. Then, the operator can pull the handle 811, which, through the fixing plate 89, pulls the limiting rod 88 out of the limiting hole 86. After being pulled out, the limiting rod 88 is no longer inserted into the limiting hole 86 or the limiting hole 87. Depending on the required counterweight, different numbers of counterweight blocks 85 are selected. For example, if the counterweight needs to be increased fourfold, the fourth limiting hole 86 can be selected downwards to insert the limiting rod 88. When the limiting rod 88 is inserted, it will pass through the limiting hole 87 of the fourth counterweight block 85. Finally, after the limiting rod 88 exits the limiting hole 86, the operator can again hold the handle 811 and rotate it 180 degrees. The handle 811, through the fixing plate 89, pulls the limiting rod 88 out of the limiting hole 86. 9 drives the limiting rod 88 to rotate 180 degrees synchronously. The limiting rod 88 drives the limiting block 812 to rotate to a downward position. Through the contact between the limiting block 812 and the outer surface of the lifting box 84, the limiting rod 88 is restricted to the lifting box 84. At this time, the limiting rod 88 cannot be pulled out, ensuring that the limiting rod 88 remains stable after being inserted into the limiting hole 86. It will not loosen or fall off as the lifting box 84 is continuously pulled upward. At this time, during the upward movement of the lifting box 84, the lifting box 84 causes the limiting rod 88 to move upward through the limiting hole 86. The limiting rod 88 is then inserted into the limiting hole 87 of the counterweight 85. At this time, the counterweight 85, restricted by the limiting rod 88, will cause the upper part of the counterweight 85 to move upward. All counterweights 85 and the lifting box 84 form a whole. As the lifting box 84 moves upward, it can drive the restricted counterweights 85 and the counterweights 85 above them to move upward synchronously. This completes the addition of counterweights. By adding different numbers of counterweights 85, different degrees of bending fatigue testing can be carried out on the bionic dexterous hand body 7. The fingers of the bionic dexterous hand body 7 can be bent in cycles under different external loads. It can be used for both light-load life verification and heavy-load accelerated fatigue testing, making it more applicable. Different bionic dexterous hand bodies 7 have different finger stiffness, size, and materials, and require different test loads. The counterweights can be added or removed so that the device can be adapted to multiple models and schemes without changing the main mechanism, improving its versatility.

[0025] It should be noted that when inserting the limiting rod 88 as described above, the limiting block 812 should be in an upward-facing position for insertion. This ensures that the combined shape of the limiting block 812 and the limiting rod 88 perfectly matches the limiting hole 86 for successful insertion. Simultaneously, during the upward movement of the lifting box 84 pulled by the pull rope 813, the lifting box 84 will drive the limiting rod 88 upward synchronously through the limiting hole 86. The limiting rod 88 will slide within the slot 817. The slot 817 on the second door panel 816 will not affect the normal up-and-down movement of the limiting rod 88, and thus will not affect the up-and-down movement of the lifting box 84. Furthermore, when adding or removing counterweights, the operator can perform the operation outside the equipment. When it is necessary to replace the worn counterweight block 85 inside the lifting box 84, the operator can open the second door panel 816 and then perform the replacement operation.

[0026] like Figure 1 , Figure 2 and Figure 9 As shown, the base box 1 is equipped with a detection component for detecting the bending condition of the bionic dexterous hand body 7 after bending fatigue test. The detection component includes two side plates 91 fixedly connected to the hollow part of the base box 1. A display module 92 is fixedly connected to the outer surface of one of the side plates 91. Multiple limiting plates 93 arranged in a linear array are fixedly connected between the base box 1 and the platform plate 2. A set of touch modules 94 is opened on each pair of adjacent sides. Multiple touch modules 94 are arranged in a linear array in each set. A gap is left between each pair of limiting plates 93. A lifting link 95 is fixedly connected to the side of each lifting box 84 near the limiting plate 93. Multiple lifting links 95 pass through the gap between each pair of limiting plates 93. A contact plate 96 is fixedly connected to one end of each lifting link 95 that passes through the gap of the limiting plate 93. The contact plate 96 abuts against the touch module 94.

[0027] Specifically, there is a space between the two side panels 91 to allow the light from the touch module 94 to shine through. Each touch module 94 consists of capacitive touch and LED lights. The multiple limit plates 93 in each group display the colors red, orange, blue and green from bottom to top. That is, when the contact plate 96 slides onto the corresponding limit plate 93, the corresponding limit plate 93 will light up, so as to provide different colored light reminders for the degree of bending of the fingers of the bionic dexterous hand body 7.

[0028] Specifically, when conducting a bending fatigue test on the bionic dexterous hand body 7, and when it is necessary to record whether the finger bending degree of the bionic dexterous hand body 7 can still bend normally, the limiting rod 88 can be inserted into the limiting hole 87 in the bottommost counterweight block 85, that is, the counterweight is increased to the maximum. The bionic dexterous hand body 7 can then be installed upside down on the mounting interface seat 6, that is, the palm area of ​​the bionic dexterous hand body 7 faces the door panel 5. The fixing ring 814 is fixed to the fingertips of the bionic dexterous hand body 7 in the same way. Finally, the controller controls the hand of the bionic dexterous hand body 7 to perform continuous bending operations. The fingers of the bionic dexterous hand body 7 bend and pull the fixing ring 814, causing the fixing ring 814 to pull the lifting box 84 upward within the limiting frame 83 via the pull rope 813. The lifting box 84, through the limiting hole 86, causes the limiting rod 88 to move all the counterweights 85 upward. At this time, the counterweights are at their maximum state, which further demonstrates the bendability of the fingers of the bionic dexterous hand body 7 after the bending fatigue test. When the lifting box 84 moves upward, it will drive the lifting connecting rod 95 to move upward synchronously. When the lifting connecting rod 95 moves upward, it will drive the contact plate 96 to move upward. When moving upwards, the contact points will be made sequentially from bottom to top. If the bionic dexterous hand body 7 can bend to its maximum curled state, the lifting box 84 will also be at its highest position. The lifting box 84, via the lifting linkage 95, will bring the contact plate 96 to its highest position. The contact plate 96 can then contact the highest-positioned touch module 94, causing the touch module 94 at that position to light up as a notification. The greater the degree of bending of the bionic dexterous hand body 7, the higher the touch module 94 will light up, indicating better fatigue resistance of the bionic dexterous hand body 7. Conversely, a smaller degree of bending indicates that the bionic dexterous hand body 7 has experienced fatigue. If wear or mechanical fatigue is present, only the lower-level touch module 94 will light up. The test results are recorded and displayed through the display module 92, which allows the operator to quickly obtain the test results of the bionic dexterous hand body 7 after fatigue testing without having to check or read the curves. This reduces the probability of misjudgment. The light display of the touch module 94 not only provides different color reminders, but also provides graded prompts for the degree of attenuation. This facilitates the comparative analysis of records under different structural schemes, different materials, or different load levels, forming a lifespan and reliability conclusion that is closer to engineering applications.

[0029] Example 2: A method for testing the fatigue of a dexterous hand-like bionic finger bending. Step 1: Open door panel 5, insert the bionic dexterous hand body 7 into the mounting interface socket 6 and complete the power supply and signal connection, then close door panel 5; Step 2: Select the number of counterweights 85 according to the target test load, rotate handle 811 to put limit block 812 into the insertion state and pull out limit rod 88, align limit rod 88 with target limit hole 1 86, insert it and pass through the corresponding limit hole 2 87 of counterweight 85, then rotate handle 811 again to put limit block 812 into the locking state to prevent limit rod 88 from coming out during the lifting process of lifting box 84; Step 3: Remove the pull rope 813 from the fixing frame 818, put the fixing ring 814 on the fingertip of the finger to be tested and tighten the screw 815 to complete the fixation; when multiple fingers need to be tested simultaneously, fix multiple fixing rings 814 on the fingertips of multiple fingers respectively. Step 4: Drive the fingers of the bionic dexterous hand body 7 to repeatedly bend, coil, and straighten during the bending process. During the bending process, the fingers are pulled by the fixed ring 814 and the rope 813 is pulled by the stabilizing wheel 82 to lift the lifting box 84, thereby applying an external load to the fingertip and forming a bending fatigue cycle. Step 5: During the lifting process of the lifting box 84, the lifting linkage 95 drives the contact plate 96 to move upward and touch the touch module 94 in sequence to trigger the graded lighting prompts. At the same time, the display module 92 records and displays the lighting level and the test process / results to obtain the bending capacity evaluation results after the fatigue test.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dexterous hand bionic finger bending fatigue testing machine, comprising a base box (1), a platform plate (2) fixedly connected to the top of the base box (1), an mounting interface seat (6) fixedly connected to the upper surface of the platform plate (2), a bionic dexterous hand body (7) inserted into the mounting interface seat (6), a top box (3) fixedly connected to the platform plate (2), a window (4) opened on the outer surface of the top box (3), and two door panels (5) rotatably connected to the outer side of the top box (3). The machine is characterized by: Multiple lifting boxes (84) are slidably connected inside the base box (1), and counterweights (85) can be detached and stacked inside the lifting boxes (84). The platform plate (2) is rotatably connected with a stabilizing wheel (82) corresponding to each lifting box (84); The top of the lifting box (84) is fixedly connected to a pull rope (813). The pull rope (813) is wound around the stabilizing wheel (82) and the end is fixedly connected to a fixing ring (814). The fixing ring (814) is used to fix the fingertips of the bionic dexterous hand body (7) so that when the fingers are bent, the lifting box (84) is pulled up and down and the weight of the counterweight (85) forms a bending fatigue load on the fingertips. Multiple lifting boxes (84) correspond to multiple fixing rings (814) respectively, so as to realize the synchronous bending fatigue test of multiple fingers with independent weight.

2. The dexterous hand bionic finger bending fatigue testing machine according to claim 1, characterized in that, Multiple limiting frames (83) are fixedly connected to the inner side of the base box (1). Each limiting frame (83) is slidably connected to the corresponding lifting box (84) to guide and limit the lifting process of the lifting box (84) and reduce the swing load.

3. The dexterous hand bionic finger bending fatigue testing machine according to claim 1, characterized in that, A fixed seat (81) is fixedly connected to the upper surface of the platform plate (2) and the side away from the mounting interface seat (6). Multiple stabilizing wheels (82) are rotatably connected to the top of the fixed seat (81). The multiple stabilizing wheels (82) correspond one-to-one with multiple lifting boxes (84).

4. The dexterous hand bionic finger bending fatigue testing machine according to claim 1, characterized in that, The fixing ring (814) has a hole, and a screw (815) is threaded on the side of the fixing ring (814) away from the pull rope (813). The fixing ring (814) is fitted onto the fingertip through the hole and locked by the screw (815) to improve the reliability of the fingertip traction point and reduce the load error caused by slippage.

5. The dexterous hand bionic finger bending fatigue testing machine according to claim 1, characterized in that, The lifting box (84) has a limiting hole 1 (86) and the counterweight (85) has a limiting hole 2 (87) corresponding to the position of the limiting hole 1 (86). A limiting rod (88) is inserted into the limiting hole 1 (86) and the limiting rod (88) passes through the limiting hole 2 (87) of the counterweight (85) to detachably fix the selected number of counterweights (85), thereby realizing the rapid adjustment and replacement of the number of counterweights (85).

6. The dexterous hand bionic finger bending fatigue testing machine according to claim 5, characterized in that, The first limiting hole (86) is composed of a square and a circle, with the square located above the circle. The shape of the second limiting hole (87) is adapted to the first limiting hole (86) to limit the insertion posture of the limiting rod (88) and improve the assembly and positioning consistency of the counterweight (85).

7. The dexterous hand bionic finger bending fatigue testing machine according to claim 5, characterized in that, A fixed plate (89) is fixedly connected to one end of the limiting rod (88) located on the outside of the base box (1). A guide rod (810) is fixedly connected to the fixed plate (89). A handle (811) is fixedly connected to the side of the fixed plate (89) away from the limiting rod (88). A limiting block (812) is fixedly connected to the end of the limiting rod (88) away from the fixed plate (89). The handle (811) drives the limiting rod (88) to rotate so that the limiting block (812) is in the insertion state and locked. The state is switched to achieve quick locking of the limit rod (88) and prevent the limit rod (88) from coming off during the lifting process. There are two door panels (816) rotatably connected between the top box (3) and the bottom box (1). Multiple slots (817) are opened on both door panels (816). The top inner side of the top box (3) is fixedly connected to the fixing frame (818) by bolts. One end of the pull rope (813) near the fixing ring (814) is stuck on the fixing frame (818).

8. The dexterous hand bionic finger bending fatigue testing machine according to claim 1, characterized in that, The base box (1) is equipped with a detection component for classifying and recording the bending condition after the test. The detection component includes a side plate (91) fixedly connected to the inside of the base box (1), a display module (92) fixedly connected to the outer surface of the side plate (91), a limit plate (93) fixedly connected between the base box (1) and the platform plate (2), a touch module (94) fixedly connected to the limit plate (93), a lifting rod (95) fixedly connected to the outside of the lifting box (84), and a contact plate (96) fixedly connected to the end of the lifting rod (95). The contact plate (96) moves up and down with the lifting box (84) and contacts the touch module (94) in sequence, and is recorded and displayed by the display module (92) to realize the classification and recording of the bending degree after the fatigue test.

9. A method for testing the fatigue of a dexterous hand-inspired bionic finger bending, characterized in that: The dexterity hand bionic finger bending fatigue testing machine according to any one of claims 1-8 includes the following steps in its testing method: Step 1: Open door panel 1 (5), insert the bionic dexterous hand body (7) into the mounting interface socket (6) and complete the power supply and signal connection, then close door panel 1 (5); Step 2: Select the number of counterweights (85) according to the target test load, turn the handle (811) to put the limit block (812) into the insertion state and pull out the limit rod (88), align the limit rod (88) with the target limit hole one (86) and insert it through the limit hole two (87) of the corresponding counterweight (85), then turn the handle (811) again to put the limit block (812) into the locking state to restrict the limit rod (88) from coming out during the lifting process of the lifting box (84); Step 3: Remove the pull rope (813) from the fixing frame (818), put the fixing ring (814) on the fingertip of the finger to be tested and tighten the screw (815) to complete the fixation; when multiple fingers need to be tested simultaneously, fix multiple fixing rings (814) on the fingertips of multiple fingers respectively; Step 4: Drive the fingers of the bionic dexterous hand body (7) to repeatedly bend, coil and straighten during the bending process. The fingers are pulled by the fixed ring (814) and the lifting box (84) is lifted by the stabilizing wheel (82) during the bending process, thereby applying an external load to the fingertip and forming a bending fatigue cycle. Step 5: During the lifting process of the lifting box (84), the lifting linkage (95) drives the contact plate (96) to move upward and touch the touch module (94) in sequence to trigger the graded lighting prompt. At the same time, the display module (92) records and displays the lighting level and the test process / result to obtain the bending capacity evaluation result after the fatigue test.

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