Bionic mechanical hand palm and control method thereof

Abstract

This invention discloses a bionic robotic hand and its control method, belonging to the field of bionic robotic hand technology. It includes a hand base and four-finger components. The hand base is divided into a palm layer, a middle layer, and a back layer along its thickness from the palm side to the back side. The palm and back layers have routing channels for flexion-extension drive lines, while the middle layer has a routing channel for lateral swing drive lines. The routing channels in the palm, middle, and back layers are not interconnected. By constraining the drive lines for finger flexion-extension within the palm and back layers, and constraining the drive lines for finger lateral swing within the middle layer, the two types of drive lines are located in different spatial planes within the hand. This eliminates spatial interference of drive lines during multi-degree-of-freedom linkage from the structural source, achieving interference-free independent transmission of flexion-extension and lateral swing movements throughout their entire stroke.

Description

Technical Field

[0001] This invention relates to the technical field of bionic robotic hands, and more particularly to a bionic robotic hand and its control method. Background Technology

[0002] With the rapid development of robotics and intelligent manufacturing, bionic robotic hands, as the core actuators for robots to interact with the physical environment, have a core research and development goal of replicating the movement capabilities and operational flexibility of the human hand within a miniaturized structure. Wire-driven robotic hands achieve joint movement through the retraction and extension of traction wires, allowing the drive mechanism to be placed at the rear to reduce the size and weight of the hand's actuator, and have become the mainstream technological direction for bionic robotic hands. However, existing wire-driven bionic robotic hands generally adopt a centralized open wiring layout when achieving multi-degree-of-freedom motion. This means that the drive wires for finger flexion and extension and those for lateral finger swinging share the same wiring space within the hand, with the drive wires arranged in a crisscross pattern within the hand.

[0003] When multiple finger units simultaneously perform flexion, extension, and lateral swing movements, the drive lines belonging to different degrees of freedom come into spatial contact within the palm, rubbing and squeezing against each other. This increases the resistance of the drive lines and reduces transmission efficiency, and in severe cases, causes jamming, affecting the response speed and positioning accuracy of finger movements. At the same time, the long-term cross friction between the drive lines accelerates the wear of the lines, reducing the product's service life and motion reliability. Summary of the Invention

[0004] The purpose of this invention is to provide a bionic mechanical hand that addresses the shortcomings of existing technologies. By dividing the palm substrate into three independent wiring regions along its thickness: a palm layer, a middle layer, and a back of the hand layer, and by completely confining the drive lines for flexion and extension of the finger units within the palm and back of the hand layers, and completely confining the drive lines for left and right swinging of the finger units within the middle layer, the two types of drive lines are located in different spatial planes throughout the entire path from the base of the fingers to the wrist inside the palm. The three wiring channels are not interconnected, fundamentally avoiding the cross contact and mutual friction interference caused by the flexion and extension drive lines and the left and right swinging drive lines sharing the wiring space inside the palm in existing technologies. This achieves interference-free independent transmission of flexion and extension movements and left and right swinging movements throughout the entire stroke, improving the motion control accuracy and action response speed of the hand.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a bionic mechanical hand, comprising: a hand base, which is divided into a palm layer, a middle layer, and a back layer along the thickness direction from the palm side to the back side; a four-finger assembly disposed at the front end of the hand base, comprising multiple finger units, each finger unit being connected to a flexion-extension driving line for driving its flexion and extension and a lateral swing driving line for driving its left and right swing; the palm layer and the back layer are provided with wiring channels for the flexion-extension driving lines to pass through, and the middle layer is provided with wiring channels for the lateral swing driving lines to pass through; the wiring channels of the palm layer, the middle layer, and the back layer are not interconnected.

[0006] Furthermore, each finger unit includes a first phalanx, a second phalanx, and a third phalanx. The third phalanx is flexibly and rotatably connected to a left-right swing connector, which is rotatably disposed at the front end of the palm base. Each phalanx has an intra-phalanx wiring channel extending along its length. The top of the first phalanx has a cross-shaped distribution hole for the drive wire to pass through and be fixed. The flexion-extension drive wire enters the finger unit through the wiring channel of the palm layer or the back of the hand layer, passes through the intra-phalanx wiring channel of each phalanx, and reaches the cross-shaped distribution hole. The distribution hole passes through and is wound and bound between the two longitudinal holes of the cross-shaped distribution hole, and then exits from the wiring channel of the back of the hand or the palm layer; the entrance end of the wiring channel inside the third phalanx is provided with a wiring groove, which provides the left and right swing connector with a degree of freedom of movement; the side swing drive line enters the finger unit through the wiring channel of the middle layer, and then passes through the wiring groove, the left and right swing connector and the wiring channel inside the phalanx of each finger in sequence, until it is fixed by the cross-shaped distribution hole, and then exits through the wiring channel of the middle layer.

[0007] Furthermore, the intermediate layer is provided with five routing channels for the side swing drive lines to pass through, namely, an independent swing channel for the outer side of the index finger, a shared swing channel for the index and middle fingers, a shared swing channel for the middle and ring fingers, a shared swing channel for the ring and little fingers, and an independent swing channel for the outer side of the little finger; the independent swing channel for the outer side of the index finger is located on the outermost side of the intermediate layer, with one end extending to the base of the index finger; the independent swing channel for the outer side of the little finger is located on the other outermost side of the intermediate layer, with one end extending to the base of the little finger. The index and middle fingers share a common swing channel, which forks at the end to form a first index finger branch and a first middle finger branch, extending to the base of the index finger and the base of the middle finger, respectively. The middle and ring fingers share a common swing channel, which forks at the end to form a second middle finger branch and a first ring finger branch, extending to the base of the middle finger and the base of the ring finger, respectively. The ring and little fingers share a common swing channel, which forks at the end to form a second ring finger branch and a first little finger branch, extending to the base of the ring finger and the base of the little finger, respectively. The wiring channels of the palm layer, the middle layer, and the back of the hand layer start from the base of each finger unit and gradually converge to the wrist of the palm base in an arc path, forming an outlet hole at the wrist for each drive line to exit.

[0008] Furthermore, it also includes a thumb assembly, which comprises a thumb flexion-extension connector, a thumb left-right swing connector, and a thumb knuckle; the lower end of the palm base is provided with a thumb fixing shaft, the thumb flexion-extension connector is rotatably sleeved on the thumb fixing shaft, the thumb left-right swing connector is rotatably connected to the thumb flexion-extension connector via a shaft, and the thumb knuckle is flexibly and rotatably connected to the thumb left-right swing connector; a thumb wiring groove is provided in the middle layer of the palm base, the thumb wiring groove extending from the wrist position to the direction of the thumb fixing shaft; a thumb wiring hole and a thumb inlet hole are provided on the palm base. The thumb cable outlet hole is located inside the thumb fixing shaft, and the thumb cable outlet hole is located above the thumb fixing shaft. Both the thumb cable inlet hole and the thumb cable outlet hole are connected to the thumb cable routing groove. A central channel extending axially is formed inside the thumb fixing shaft. The central channel has a vertically downward hole and a vertically upward hole. The thumb cable inlet hole is close to and connected to the vertically downward hole, and the thumb cable outlet hole is close to and connected to the vertically upward hole. An upper window and a lower window are provided on the side wall of the thumb fixing shaft. Vertically arranged cable routing channels and cable routing grooves are formed on the thumb flexion-extension connector. The drive cable for driving the left and right swing of the thumb assembly passes through the thumb cable tray to the thumb cable inlet hole, exits through the thumb cable inlet hole, enters the central channel through the vertically lower hole, exits through the lower window, enters the cable tray, runs along the left and right sides through the internal channel of the thumb left and right swing connector, reaches the fixing structure at the top of the thumb knuckle, then returns to the cable tray through the other side of the internal channel of the thumb left and right swing connector, enters the central channel through the upper window, exits through the vertically upper hole, and returns to the thumb cable tray through the thumb cable outlet hole; driving the thumb assembly knuckle The flexion and extension drive line passes through the thumb cable groove to the thumb cable inlet hole, exits through the thumb cable inlet hole, enters the central channel through the vertically lower hole, exits through the lower window, enters the cable lower channel, runs along the front and rear sides through the internal channel of the thumb left and right swing connector, reaches the fixing structure at the tip of the thumb knuckle, then returns to the cable upper channel through the other side internal channel of the thumb left and right swing connector, enters the central channel through the upper window, exits through the vertically upper hole, and returns to the thumb cable groove through the thumb cable outlet hole; the left and right side cables and the front and rear side cables are spatially perpendicular to each other and do not intersect.

[0009] Furthermore, the thumb flexion-extension connector is provided with a binding post. The drive line that drives the thumb assembly to flex and extend relative to the palm base enters the thumb fixing shaft through the thumb cable groove and the thumb cable inlet hole, then extends through the cable passage hole on the thumb flexion-extension connector to the binding post for winding and fixing, and then exits through another cable passage hole and returns to the thumb cable groove along the original path. Both the thumb flexion-extension connector and the thumb left-right swing connector have control line movable openings for the drive line to pass through, so as to provide space for the path change of the drive line when the thumb flexion-extension connector and the thumb left-right swing connector rotate relative to each other.

[0010] Furthermore, the thumb joint includes a first joint and a second joint, having an extension limit position and a bending limit position: in the extension limit position, the bottom back of the first joint has a first groove that cooperates with the first limiting protrusion at the top back of the second joint for limiting, and the second limiting protrusion at the bottom back of the second joint abuts against the thumb left-right swing connector for limiting; in the bending limit position, the second groove at the bottom of the pad of the first joint cooperates with the connecting post between the second joint and the first joint for limiting, the third groove at the top of the pad of the second joint and the second groove together form a bending action space, and the fourth groove at the bottom of the pad of the second joint abuts against the thumb left-right swing connector for limiting; both the finger unit and the thumb joint have thumb expansion fixing holes on the pad and finger back expansion fixing openings on the back of the finger for expanding and fixing skin or sensors.

[0011] Furthermore, the finger unit has an extension limit position and a flexion limit position: In the extension limit position, the bottom end of the back of the first phalanx is provided with a first limiting protrusion, which abuts against the top end of the back of the second phalanx; the bottom end of the back of the second phalanx abuts against the second limiting protrusion provided at the top end of the back of the third phalanx; the bottom end of the back of the third phalanx abuts against the connecting part on the left-right swing connector that is flexed and rotated with the third phalanx; In the flexion limit position, the connecting post on the first phalanx that is flexed and rotated with the second phalanx abuts against the top end of the fingertip of the second phalanx, and the top end of the fingertip of the second phalanx is provided with a first recess to accommodate the connecting post and provide space for bending action; the bottom end of the fingertip of the second phalanx abuts against the connecting post on the third phalanx that is flexed and rotated with the second phalanx, and the bottom end of the fingertip of the second phalanx is provided with a second recess. The top of the outer shell of the third phalanx is provided with a third recess; the bottom of the outer shell of the third phalanx abuts against the connecting part on the left and right swing connector that is connected to the flexion and extension rotation of the third phalanx; the structures of the first recess, the second recess, and the third recess are different; the palm base is integrally formed with grooves for installing each of the left and right swing connectors, the two side walls of the grooves constitute the left and right swing angle limit of the left and right swing connectors, the opening angle of the groove corresponding to each finger unit is set according to the required activity space of the finger unit, and the opening angle of each groove is different; the palm base is also provided with a wrist bottom cover plate mounting hole for installing the wrist bottom cover plate, the wrist bottom cover plate closes the bottom end of the thumb fixing shaft and presses the thumb flexion and extension connector, the wrist bottom cover plate is provided with a structure for the integration and lead-out of all drive lines, and is used to extend the connection of the wrist part.

[0012] A control method for a bionic robotic hand, the bionic robotic hand comprising a palm base and a four-finger assembly disposed at its front end, the palm base being divided into a palm layer, a middle layer, and a back layer along its thickness from the palm side to the back side, the palm layer and the back layer having flexion-extension wiring channels, the middle layer having a lateral swing wiring channel, and the four-finger assembly comprising multiple finger units, each finger unit being connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel, the method comprising the following steps: pulling the... The flexion-extension drive line running along the palm layer corresponds to any of the finger units, driving the finger unit to perform a bending action; the flexion-extension drive line running along the back of the hand corresponds to any of the finger units, driving the finger unit to perform an extension action; the lateral swing drive line running along the middle layer corresponds to the finger unit, driving the finger unit to perform a left-right swinging action; wherein, the bending action, the extension action, and the left-right swinging action are independent of each other, can be performed one at a time or simultaneously, and do not interfere with each other when performed simultaneously.

[0013] A method for controlling a bionic robotic hand, characterized in that the bionic robotic hand comprises a palm base, a four-finger assembly, and a thumb assembly. The palm base is divided into a palm layer, a middle layer, and a back layer along its thickness from the palm side to the back side. The palm layer and the back layer have flexion-extension wiring channels, and the middle layer has a lateral swing wiring channel. The four-finger assembly comprises multiple finger units, each finger unit connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel. The lower end of the palm base has a thumb fixing shaft, the middle layer has a thumb wiring groove, and the palm base has a thumb wiring hole and a... The thumb assembly includes a thumb extension / retraction connector, a central channel formed within the thumb fixing shaft, and lower and upper windows on the sidewalls of the thumb fixing shaft. The thumb assembly comprises a thumb flexion / extension connector, a thumb left / right swing connector, and a thumb knuckle. The thumb flexion / extension connector has a lower channel and a higher channel for the extension / retraction, and is equipped with a binding post. The assembly includes the following steps: Four-finger control steps: Pulling the flexion / extension drive line corresponding to any finger unit in the palm layer to drive that finger unit to perform a flexion action; pulling the flexion / extension drive line corresponding to any finger unit in the back of the hand layer to drive that finger unit to perform an extension action; pulling the corresponding… The lateral swing drive line of the finger unit drives the finger unit to perform left and right swinging movements; the thumb control steps are as follows: pull the drive line that passes through the thumb wiring groove and the thumb wiring hole into the central channel, exits through the lower window, enters the thumb left and right swinging connector through the wiring lower channel, and runs along the left and right sides to the tip of the thumb knuckle, to control the thumb assembly to perform left and right swinging movements; pull the drive line that passes through the thumb wiring groove and the thumb wiring hole into the central channel, exits through the lower window, enters the thumb left and right swinging connector through the wiring lower channel, and runs along the front and rear sides to the tip of the thumb knuckle, to control The thumb assembly performs flexion and extension movements; pulling the drive wire that passes through the thumb cable groove and the thumb cable inlet hole into the thumb fixing shaft and extends to the binding post on the thumb flexion and extension connector to control the thumb assembly to perform flexion and extension movements relative to the palm base; wherein, the bending, extension, and left-right swinging movements in the four-finger control steps are independent of each other, and can be performed one at a time or simultaneously without interference; the left-right swinging movement and the flexion and extension movements in the thumb control steps can be performed simultaneously without interference; the four-finger control steps and the thumb control steps can be performed one at a time or simultaneously to achieve grasping, pinching, pinching, or side pinching movements.

[0014] By dividing the palm substrate into three independent wiring regions along its thickness—the palm layer, the middle layer, and the back of the hand—and completely confining the drive lines for flexion and extension of the finger units within the palm and back of the hand layers, and completely confining the drive lines for left and right swinging of the finger units within the middle layer, the two types of drive lines are located in different spatial planes throughout the entire path from the finger root to the wrist within the palm. The three wiring channels are not interconnected, fundamentally avoiding the cross contact and mutual friction interference caused by the flexion and extension drive lines and the lateral swing drive lines sharing the wiring space within the palm in existing technologies. This achieves interference-free independent transmission of flexion and extension movements and left and right swinging movements throughout the entire stroke, improving the motion control precision and action response speed of the palm. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional view of the overall assembly of the bionic mechanical hand of this invention; Figure 2 This is an exploded view of the overall assembly of the bionic mechanical hand of this invention; Figure 3 This is a cross-sectional view of the three-layer structure of the bionic mechanical hand base of the present invention; Figure 4 This is a top view of the middle layer wiring channel of the bionic mechanical hand of the present invention; Figure 5 This is a cross-sectional view of the thumb fixing shaft and the inlet / outlet hole of the bionic mechanical hand of the present invention. Figure 6 This is a diagram showing the limit positions of the four fingers' extension and bending of the bionic mechanical hand of the present invention. Figure 7 This is an exploded view of the single-finger unit structure of the bionic mechanical hand of the present invention; Figure 8 This is an assembly drawing of the four-finger side-swing limiting groove and wrist bottom cover plate of the bionic mechanical hand of the present invention. Figure 9 This is an exploded view of the thumb component structure of the bionic mechanical hand of this invention; Figure 10 This is a diagram showing the connection relationship of the thumb wiring channel structure of the bionic mechanical hand of this invention; Figure 11 This is a diagram showing the limit positions of the thumb extension and bending of the bionic mechanical hand of this invention. Figure 12This is a back view of the palm base of the bionic mechanical hand of the present invention.

[0017] Figure label: 1. Palm base; 1-1. Palm layer; 1-2. Middle layer; 1-2-1. Independent swing channel on the outer side of the index finger; 1-2-2. Shared swing channel between the index and middle fingers; 1-2-3. Shared swing channel between the middle and ring fingers; 1-2-4. Shared swing channel between the ring and little fingers; 1-2-5. Independent swing channel on the outer side of the little finger; 1-2-6. Thumb routing groove; 1-3. Back of the hand layer; 1-4. Thumb fixing axis; 1-4-1. Upper window; 1-4-2. Lower window; 1- 5. Wrist base plate mounting hole; 1-5-1. Upper reserved groove for wire passage in flexion and extension; 1-5-2. Lower reserved groove for wire passage in flexion and extension; 1-5-3. Thumb flexion limit; 1-5-4. Thumb extension limit; 1-6. Groove; 1-7. Thumb wire inlet hole; 1-8. Thumb wire outlet hole; 2. Four-finger assembly; 2-1. Cross-shaped distribution holes; 2-2. Left and right swing connector; 2-3. First recess; 2-4. Second recess; 2-5. Third recess; 2-6. First limiting boss; 2 -7. Second limiting boss; 3. Thumb assembly; 3-1. Thumb flexion-extension connector; 3-1-1. Cable routing channel; 3-1-2. Cable routing channel; 3-1-3. Cable binding post; 3-1-4. Thumb flexion-extension traction cable routing groove inlet; 3-1-5. Thumb flexion-extension traction cable routing groove outlet; 3-1-6. Left and right upper reserved cable passage grooves; 3-1-7. Left and right lower reserved cable passage grooves; 3-1-8. Thumb left limit; 3-1-9. Thumb right limit; 3-2 1. Thumb left and right swing connector; 3-2-1. Left and right cable routing channel; 3-2-2. Left and right cable routing channel; 3-2-3. Thumb left and right traction cable routing channel outlet; 3-2-4. Thumb left and right traction cable inlet; 3-3. Thumb knuckle; 3-3-1. First groove; 3-3-2. First limiting protrusion; 3-3-3. Second limiting protrusion; 3-3-4. Second groove; 3-3-5. Third groove; 3-3-6. Fourth groove; 4. Wrist bottom cover plate. Detailed Implementation

[0018] 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.

[0019] A bionic mechanical hand, such as Figures 1-12As shown, a bionic mechanical hand includes: a hand base 1, which is divided into a palm layer 1-1, a middle layer 1-2, and a back layer 1-3 along the thickness direction from the palm side to the back side; a four-finger assembly 2, disposed at the front end of the hand base 1, including multiple finger units, each finger unit being connected to a flexion-extension drive line for driving its flexion and extension and a lateral swing drive line for driving its left and right swing; the palm layer 1-1 and the back layer 1-3 are provided with wiring channels for the flexion-extension drive lines to pass through, and the middle layer 1-2 is provided with wiring channels for the lateral swing drive lines to pass through; the wiring channels of the palm layer 1-1, the middle layer 1-2, and the back layer 1-3 are not interconnected.

[0020] Specifically, the bionic mechanical hand includes a palm base 1 and four-finger components 2. The palm base 1 is a one-piece molded structure, which is divided into a palm layer 1-1, a middle layer 1-2, and a back layer 1-3 along the thickness direction from the palm side to the back side. The three layers are separated by solid material, forming independent wiring areas that are not interconnected in space. The four-finger components 2 are located at the front end of the palm base 1 and include four finger units: index finger, middle finger, ring finger, and little finger. Each finger unit is connected to a flexion-extension drive line and a lateral swing drive line. The flexion-extension drive line is used to drive the finger unit to perform bending and extension movements, and the lateral swing drive line is used to drive the finger unit to perform left and right swinging movements. Multiple wiring channels for the flexion-extension drive lines are opened in the palm layer 1-1 and the back layer 1-3, and five wiring channels for the lateral swing drive lines are opened in the middle layer 1-2. Each wiring channel is a closed channel integrally molded inside the palm base 1, and the inner wall of the channel is smooth. The wiring channels in the palm layer 1-1 guide the drive lines that drive the finger unit to bend, the wiring channels in the back of the hand layer 1-3 guide the drive lines that drive the finger unit to extend, and the wiring channels in the middle layer 1-2 guide the drive lines that drive the finger unit to swing left and right. The wiring channels in the palm layer 1-1, middle layer 1-2, and back of the hand layer 1-3 are located in different spatial planes. Any two wiring channels belonging to different layers have no intersection points or overlapping areas in three-dimensional space, and there are no connecting passages between the channels of each layer; they are completely physically isolated from each other. Through this structural design, the drive lines that drive the finger unit to flex and extend are completely constrained within the palm layer 1-1 and back of the hand layer 1-3, and the drive lines that drive the finger unit to swing left and right are completely constrained within the middle layer 1-2. The two types of drive lines are located in different spatial planes throughout their entire path from the finger root position to their convergence at the wrist within the palm base 1. This fundamentally avoids the multi-line cross-contact and mutual friction interference caused by all drive lines sharing the wiring space within the palm in traditional solutions. This solves the technical problems of high transmission friction, easy jamming, and low motion accuracy in existing wire-driven bionic manipulators, where the flexion and extension drive lines and the lateral swing drive lines share the same routing space inside the palm and the drive lines cross and interfere with each other during multi-degree-of-freedom linkage. It realizes interference-free independent transmission of flexion and extension movements and left and right swing movements throughout the entire stroke linkage process, improving the motion control accuracy and action response speed of the palm.

[0021] As a preferred embodiment of the above, such as Figures 1-12As shown, each finger unit is composed of a first phalanx, a second phalanx, and a third phalanx, which are hinged together in sequence. The third phalanx is flexibly and rotatably connected to a left-right swinging connector 2-2. This left-right swinging connector 2-2 is rotatably disposed at the front end of the palm base 1, constituting the lateral swinging degree of freedom of the finger unit. Each phalanx has an internal wiring channel extending along its length. The top of the first phalanx has a cross-shaped distribution hole 2-1 for the drive wire to pass through and be fixed. This cross-shaped distribution hole 2-1 has two longitudinal holes and two transverse holes, which are used to realize the bidirectional passage and winding binding of the drive wire. The working path of the flexion-extension drive line is as follows: After the drive line enters the finger unit through the wiring channel of the palm layer 1-1 or the palm back layer 1-3, it passes through the wiring channels inside the third phalanx, the second phalanx, and the first phalanx in sequence, and reaches the cross distribution hole 2-1. It passes through the two longitudinal holes of the cross distribution hole 2-1, and after being wrapped, knotted and fixed, it passes out through the wiring channel of the palm back layer 1-3 or the palm layer 1-1, forming a closed-loop wiring path that enters from the palm layer 1-1 and returns from the palm back layer 1-3, or enters from the palm back layer 1-3 and returns from the palm layer 1-1. The working path of the lateral swing drive line is as follows: A cable groove is provided at the entrance end of the cable channel inside the third phalanx. The cable groove is an elongated opening near the palm end of the third phalanx. Its length direction and opening size are adapted to the movement amplitude of the left and right swing connector 2-2 during the left and right swing process, so that the drive line will not be pulled or stuck due to the rotation of the connector when the finger unit swings left and right, thus providing the left and right swing connector 2-2 with freedom of movement. After the lateral swing drive line enters the finger unit from the cable channel of the middle layer 1-2, it first passes through the cable groove, then through the cable passage inside the left and right swing connector 2-2, and then enters the cable channel inside the third phalanx, the second phalanx, and the first phalanx in sequence. After reaching the cross distribution hole 2-1, it passes through and is wrapped and bound between the two transverse holes, and then returns through the cable channel of the middle layer 1-2 along the original path, thus forming a closed loop cable path. Through the above structure, each drive line forms an independent closed-loop path that enters the finger unit from a certain layer of the palm base 1, passes through all phalanges, is fixed at the fingertip cross distribution hole 2-1, and then returns from the same layer or another layer. Each drive line is constrained within its own channel throughout its entire stroke, without spatial intersection. The two longitudinal holes and two transverse holes of the cross distribution hole 2-1 correspond to the fixing requirements of the flexion-extension drive line and the lateral swing drive line, respectively, allowing the two types of drive lines to be spatially staggered and fixed at the same fingertip position, without occupying each other's passage space. The wiring groove at the entrance end of the third phalanx solves the problem of the lateral swing drive line's adaptation to the left and right swing of the finger unit, ensuring that the drive line always travels smoothly and is not pulled or obstructed during the lateral swing of the finger unit.This solves the problems of non-independent drive line routing, friction entanglement, and motion interference at the finger joints in existing technologies. It realizes full-path independent closed-loop transmission of the two types of drive lines for flexion and extension and lateral swing of each finger unit, providing a reliable structural foundation for independent control and coordinated linkage of multiple fingers with multiple degrees of freedom.

[0022] As a preferred embodiment of the above, such as Figures 1-12As shown, the intermediate layer 1-2 has five routing channels for the lateral swing drive lines to pass through. The five channels are arranged differently according to the distribution position and movement characteristics of each finger unit. Among them, the independent swing channel 1-2-1 on the outer side of the index finger is located on the outermost side of the intermediate layer 1-2, with one end extending to the base of the index finger, and is used only by the index finger; the independent swing channel 1-2-5 on the outermost side of the little finger is located on the other outermost side of the intermediate layer 1-2, with one end extending to the base of the little finger, and is used only by the little finger. The three channels in the middle are swing channels shared by two adjacent finger units: the index and middle fingers share swing channel 1-2-2, which forks at the end to form the first index finger branch and the first middle finger branch, with the first index finger branch extending to the base of the index finger and the first middle finger branch extending to the base of the middle finger; the middle and ring fingers share swing channel 1-2-3, which forks at the end to form the second middle finger branch and the first ring finger branch, with the second middle finger branch extending to the base of the middle finger and the first ring finger branch extending to the base of the ring finger; the ring and little fingers share swing channel 1-2-4, which forks at the end to form the second ring finger branch and the first little finger branch, with the second ring finger branch extending to the base of the ring finger and the first little finger branch extending to the base of the little finger. All five wiring channels converge at the base of the corresponding finger unit. The drive line of each channel connects to the left-right swing connector 2-2 at the base of the finger. By pulling the side-swing drive line in the corresponding channel, the left-right swing control of the corresponding finger unit is achieved. In terms of the overall channel layout, the wiring channels of the palm layer 1-1, the middle layer 1-2, and the back of the hand layer 1-3 start from the base of each finger unit and gradually converge to the wrist of the palm base 1 in an arc path. At the wrist, an exit hole is formed for each drive line to exit. The arc path avoids the problem of sharp bends in the drive line that may occur in the straight channel, so that the drive line transitions smoothly from the base of the finger to the wrist. By employing a five-channel layout with individual channels at the edges and shared channels in the middle, coupled with a branching design at the ends, five wiring channels are used within the limited space inside the palm to independently drive the left and right swing of the four finger units. The three shared channels in the middle branch off near the finger roots, spatially separating the two drive lines within the same channel. This allows drive lines belonging to different finger units to enter their own independent branch channels as they approach the finger roots, avoiding the mutual friction and motion coupling that can occur when two drive lines run parallel throughout a shared channel. This solves the problem of insufficient wiring space and mutual friction and interference between multiple lines sharing a channel in existing technologies, enabling orderly wiring and independent transmission of the four-finger lateral swing drive lines within a compact space.

[0023] As a preferred embodiment of the above, such as Figures 1-12As shown, the bionic mechanical hand also includes a thumb assembly 3, which consists of a thumb flexion-extension connector 3-1, a thumb left-right swing connector 3-2, and a thumb knuckle 3-3. The lower end of the hand base 1 has an integrally formed thumb fixing shaft 1-4. The thumb flexion-extension connector 3-1 is rotatably mounted on the thumb fixing shaft 1-4, constituting the flexion-extension degree of freedom of the thumb assembly 3 relative to the hand base 1. The thumb left-right swing connector 3-2 is rotatably connected to the thumb flexion-extension connector 3-1 via a shaft, constituting the left-right swing degree of freedom of the thumb assembly 3. The thumb knuckle 3-3 is flexibly and rotatably connected to the thumb left-right swing connector 3-2, constituting the flexion-extension degree of freedom of the thumb knuckle itself. The rotation axes of the three degrees of freedom intersect in different directions in space, giving the thumb assembly 3 omnidirectional motion capability. Regarding the wiring structure, a thumb wiring groove 1-2-6 is provided in the middle layer 1-2 of the palm base 1. This wiring groove starts from the wrist position and extends along the lower area of ​​the palm base 1 to the direction of the thumb fixing axis 1-4. A thumb inlet hole 1-7 and a thumb outlet hole 1-8 are provided on the palm base 1. The thumb inlet hole 1-7 is located inside the thumb fixing axis 1-4, that is, on the side closer to the center of the palm. The thumb outlet hole 1-8 is located above the thumb fixing axis 1-4, that is, on the side closer to the back of the hand. The thumb inlet hole 1-7 and the thumb outlet hole 1-8 are respectively connected to the thumb wiring groove 1-2-6, forming a one-groove-two-hole inlet and outlet structure. The thumb fixing shaft 1-4 has a central channel formed along its axial direction. The lower end of the central channel has a vertically downward hole, and the upper end has a vertically upward hole. The thumb inlet hole 1-7 is close to the vertically downward hole and is connected to it through an opening inside the palm base 1. The thumb outlet hole 1-8 is close to the vertically upward hole and is connected to it through an opening inside the palm base 1. The side wall of the thumb fixing shaft 1-4 has an upper window 1-4-1 and a lower window 1-4-2, which are respectively connected to the central channel and the corresponding wiring channels on the thumb flexion and extension connector 3-1. The thumb flexion and extension connector 3-1 has a vertically parallel upper wiring channel 3-1-1 and a lower wiring channel 3-1-2. The lower wiring channel 3-1-2 corresponds to the lower window 1-4-2, and the upper wiring channel 3-1-1 corresponds to the upper window 1-4-1.The routing path of the drive cable for the left-right swing of the thumb assembly 3 is as follows: The drive cable enters the thumb cable routing groove 1-2-6 from the wrist, extends along the cable routing groove to the thumb cable inlet hole 1-7, exits from the thumb cable inlet hole 1-7, enters the central channel of the thumb fixing shaft 1-4 through the vertically downward hole, then exits through the lower window 1-4-2 and enters the lower cable routing channel 3-1-2. It then enters the internal channel of the left-right swing connector 3-2 in the lower cable routing channel 3-1-2, and runs along the left-right direction in this internal channel to the fixing point at the top of the thumb knuckle 3-3. The structure is wrapped and fixed. After the fixation is completed, the drive line returns from the internal channel on the other side of the thumb swing connector 3-2, enters the cable routing channel 3-1-1, re-enters the central channel through the upper window 1-4-1, passes through the vertical upper hole, and returns to the thumb cable routing groove 1-2-6 through the thumb cable outlet hole 1-8. This forms a complete closed-loop cable routing path that starts from the wrist cable routing groove, passes through the fixed axis central channel and the upper and lower windows, passes through the left and right side channels inside the swing connector, reaches the top of the knuckle for fixation, and then returns to the wrist cable routing groove via a symmetrical path. The routing path of the drive line for the flexion and extension of the thumb assembly 3 is as follows: It enters from the thumb routing groove 1-2-6, passes through the thumb inlet hole 1-7 and the vertical lower hole into the central channel, exits through the lower window 1-4-2 and enters the lower routing channel 3-1-2, enters the internal channel of the thumb left and right swing connector 3-2, and then runs along the front and back side direction to the fixing structure at the top of the thumb joint 3-3 for fixation. Then it returns to the upper routing channel 3-1-1 through the other side internal channel, enters the central channel through the upper window 1-4-1, exits through the vertical upper hole and returns to the thumb routing groove 1-2-6 through the thumb outlet hole 1-8, forming a closed loop routing path with the same structure as the left and right swing drive line but with a different routing direction. In the above wiring structure, the left-right swing drive line runs along the left-right direction inside the thumb left-right swing connector 3-2, and the knuckle flexion-extension drive line runs along the front-back direction inside the thumb left-right swing connector 3-2. The left-right direction and the front-back direction are spatially perpendicular to each other. The wiring channels of the two types of drive lines inside the thumb left-right swing connector 3-2 are independent of each other, with no intersection points and no overlapping areas. By constraining the wiring paths of the two types of drive lines of thumb left-right swing and knuckle flexion-extension into the mutually perpendicular left-right channel and front-back channel respectively after entering the thumb left-right swing connector 3-2, the risk of interference between the two degrees of freedom drive lines inside the thumb is eliminated from the spatial structure. This ensures that when the thumb assembly 3 performs the linkage action of left-right swing and knuckle flexion-extension, the two types of drive lines move in their own independent channels without contact friction or motion coupling.Meanwhile, the incoming and outgoing wire paths are separated into upper and lower layers through the upper window 1-4-1 and lower window 1-4-2 on the thumb fixed axis 1-4, and the corresponding upper and lower routing channels 3-1-1 and 3-1-2 on the flexion-extension connector 3-1. The incoming wire travels through the lower channel, and the outgoing wire travels through the upper channel, further separating the motion trajectories of the incoming and outgoing wires in axial space. This solves the problem of shared routing space for the multi-degree-of-freedom drive lines of the thumb and the problem of mutual cross friction and motion interference of the internal drive lines during linkage in the prior art. It realizes zero-interference linkage of the thumb's left and right swing and flexion-extension of the knuckles throughout the entire stroke, improving the stability and control accuracy of the multi-degree-of-freedom movement of the thumb assembly.

[0024] As a preferred embodiment of the above, such as Figures 1-12As shown, the thumb flexion-extension connector 3-1 is provided with an integrally formed or fixedly assembled binding post 3-1-3. The binding post 3-1-3 is a columnar structure protruding from the surface of the flexion-extension connector 3-1, which is used for winding and fixing the drive wire. The drive line that drives the thumb assembly 3 to perform flexion and extension movements relative to the palm base 1 has a different routing path than the closed-loop routing paths of the left-right swing drive line and the knuckle flexion and extension drive line: the drive line enters the thumb routing groove 1-2-6 from the wrist, enters the thumb fixing shaft 1-4 through the thumb inlet hole 1-7, and does not continue forward to the left-right swing connector 3-2 and the knuckle. Instead, it directly passes through the through hole on the thumb flexion and extension connector 3-1 and extends to the binding post 3-1-3. It wraps around the binding post 3-1-3 several times to achieve reliable fixation through friction. Then, the drive line exits from another through hole on the flexion and extension connector 3-1 and returns to the thumb routing groove 1-2-6 along the original entry path, forming a routing path of "routing groove - inlet hole - fixing shaft - through hole - binding post - through hole - return along the original path". When the external drive mechanism pulls the drive cable, the driving force acts directly on the flexion-extension connector 3-1 because the drive cable is fixed to the binding post 3-1-3 on the thumb flexion-extension connector 3-1. This causes the entire thumb assembly 3 to rotate around the thumb fixed axis 1-4, thereby achieving the overall flexion-extension movement of the thumb assembly 3 relative to the palm base 1. When the drive cable loosens, the thumb assembly 3 returns to its initial position under its own elasticity or the action of the reset mechanism. Furthermore, both the thumb flexion-extension connector 3-1 and the thumb left-right swing connector 3-2 have control cable openings for the drive cable to pass through. These openings are elongated slots extending along the rotation direction of the connector, with an opening length several times greater than the diameter of the drive cable, used to accommodate path deviations of the drive cable during the relative rotational movement of the connector. When the thumb flexion-extension connector 3-1 and the thumb left-right swing connector 3-2 rotate relative to each other, the left-right swing drive line and the knuckle flexion-extension drive line passing through these two connectors will deviate from their paths as the rotation angle changes. The control line movable opening provides sufficient room for the drive line to move, allowing the drive line to slide freely along the length of the movable opening during rotation, thus preventing the drive line from being stretched, squeezed, or stuck due to the rotation of the connectors. By setting the fixing point of the thumb flexion-extension drive line at the binding post 3-1-3 on the flexion-extension connector 3-1 itself, the flexion-extension drive line can independently drive the overall flexion and extension of the thumb assembly 3 without passing through the left and right swing connector 3-2. This simplifies the wiring path of the flexion-extension drive and avoids path intersections with the left and right swing drive line and the knuckle flexion-extension drive line in the wiring channel. The setting of the control line movable opening solves the problem of dynamic adaptation of the drive line when multiple connectors inside the thumb rotate relative to each other, ensuring that each drive line of the thumb assembly 3 always runs smoothly during multi-degree-of-freedom linkage, thereby improving the reliability of the three-degree-of-freedom motion of the thumb assembly and the service life of the drive line.Meanwhile, as a further optimization of the above embodiment, the palm base 1 is provided with an upper reserved wire passage groove 1-5-1 and a lower reserved wire passage groove 1-5-2 for flexion and extension, located at the upper and lower ends of the thumb fixing shaft 1-4, respectively. These grooves provide space for the traction wire in the flexion and extension direction of the thumb to travel on the rotating groove wall, preventing the traction wire from getting stuck between the thumb flexion and extension connector 3-1 and the flexion and extension rotating groove. The thumb flexion and extension connector 3-1 is also provided with a thumb flexion and extension traction wire passage groove inlet 3-1-4 and a thumb flexion and extension traction wire passage groove outlet 3-1-5. The traction wire in the flexion and extension direction of the thumb enters from the passage groove inlet 3-1-4, is wound and fixed on the binding post 3-1-3, and then exits from the passage groove outlet 3-1-5. Meanwhile, the thumb flexion-extension connector 3-1 is also provided with left and right upper reserved wire passage grooves 3-1-6 and left and right lower reserved wire passage grooves 3-1-7, which are used to provide space for the traction wires in the left and right directions of the thumb to move on the left and right rotating groove walls, and to prevent the traction wires from getting stuck between the thumb left and right swing connector 3-2 and the left and right rotating grooves. The thumb left and right swing connector 3-2 has left and right upper passage channels 3-2-1 and left and right lower passage channels 3-2-2, which have the same functions as the upper passage channels 3-1-1 and lower passage channels 3-1-2 on the thumb flexion-extension connector 3-1, and is provided with thumb left and right traction wire inlets 3-2-4 and thumb left and right traction wire passage groove outlets 3-2-3. The traction wires in the left and right directions of the thumb enter from the left and right traction wire inlets 3-2-4, extend to the fingertip binding wire and are fixed, and then exit from the left and right traction wire passage groove outlets 3-2-3.

[0025] As a preferred embodiment of the above, such as Figures 1-12As shown, the thumb joint 3-3 is composed of two joints, the first joint and the second joint, which are hinged together. The two joints are connected by a connecting post to achieve a flexible and rotatable connection, and have clear extension limit position and bending limit position. Bidirectional mechanical hard limit is achieved by grooves and limiting protrusions integrally formed on each joint. When the thumb knuckle is extended to its limit, a first groove 3-3-1 is provided at the bottom back of the first knuckle. The first groove 3-3-1 is a notch structure opened at the root of the back side of the first knuckle. A first limiting protrusion 3-3-2 is provided at the corresponding position at the top back of the second knuckle. When the thumb knuckle is extended to its limit angle, the bottom of the groove 3-3-1 and the top surface of the first limiting protrusion 3-3-2 are completely fitted and abutted, preventing the first knuckle from extending further backward. At the same time, a second limiting protrusion 3-3-3 is provided at the bottom back of the second knuckle. The second limiting protrusion 3-3-3 abuts against the corresponding limiting surface of the thumb swing connector 3-2, preventing the second knuckle from extending further relative to the thumb swing connector 3-2. Thus, a two-level limiting protection is formed when the thumb knuckle is fully extended. At the bending limit position, the bottom end of the first phalanx's pad has a second groove 3-3-4. When the first phalanx bends relative to the second phalanx to its limit angle, the inner wall of the second groove 3-3-4 abuts against the outer circumferential surface of the connecting post between the two phalanges, limiting further bending of the first phalanx by the connecting post. The top end of the second phalanx's pad has a third groove 3-3-5. This third groove 3-3-5 and the second groove 3-3-4 of the first phalanx are arranged opposite each other at the bending limit position, with a preset gap between them, forming the movement space required for the bending movement of the first phalanx and preventing the pad material from being squeezed and interfered with during the bending process. The bottom end of the second phalanx's pad has a fourth groove 3-3-6. At the bending limit position, this fourth groove 3-3-6 abuts against the corresponding limiting part of the thumb left-right swing connector 3-2, limiting further bending of the second phalanx relative to the thumb left-right swing connector 3-2. All the above grooves and limiting protrusions are integrally formed with their respective phalanges or connectors, eliminating the need for additional independent limiting parts. Regarding the sensor expansion structure, a thumb expansion fixing hole is provided at the fingertip of the thumb joint 3-3. This fixing hole is a blind hole or through hole structure integrally formed with the joint, used for embedding and installing a thin film pressure sensor or expanding and fixing the bionic skin. A thumb expansion fixing port is provided at the back of the thumb joint 3-3. This fixing port is an open groove structure integrally formed with the joint, used for expanding and fixing the bionic skin or installing sensing elements such as angle sensors. At the same time, the opening structure of the fixing port also facilitates the binding and fixing of the drive wire and subsequent maintenance.Through the aforementioned integrated bidirectional hard-limiting structure, the limiting force of the thumb knuckle is directly borne and transmitted by the mechanical structure at its extreme positions in both extension and flexion directions. The driving force no longer bears the extreme load through the drive line or software limit, thus fundamentally avoiding structural damage, drive line breakage, and fatigue failure of joint reset components caused by excessive extension or flexion of the thumb knuckle. At the same time, when bending to the extreme position, the cooperation between each groove, connecting post, and limiting part provides sufficient movement space while ensuring reliable limiting, ensuring that the bending range and smoothness of the thumb knuckle are not affected by the limiting structure. The integrated expansion fixing hole and fixing port provide a standardized sensor installation interface for the thumb, allowing for quick installation and replacement of tactile, posture, and other sensing elements without the need for additional holes or brackets on the palm body or knuckles. The built-in wiring channel allows the sensor signal line to be led out to the wrist through the thumb wiring groove, physically isolated from the drive line channel, realizing convenient expansion of sensing functions and reliable signal transmission. The thumb flexion and extension direction is limited by the thumb flexion limiter 1-5-3 and thumb extension limiter 1-5-4 on the palm base 1. The thumb flexion limiter 1-5-3 is located on the side closer to the palm and is used to limit the maximum flexion angle when the thumb flexion and extension connector 3-1 rotates to the position closest to the palm. The thumb extension limiter 1-5-4 is located on the side away from the palm and is used to limit the maximum opening angle when the thumb flexion and extension connector 3-1 rotates to the position furthest from the palm. The thumb lateral direction limitation is limited by the thumb left limiter 3-1-8 and thumb right limiter 3-1-9 on the thumb flexion and extension connector 3-1. The thumb left limiter 3-1-8 is located on the side away from the palm and is used to limit the leftmost angle when the thumb lateral swing connector 3-2 rotates to the position furthest from the palm. The thumb right limiter 3-1-9 is located on the side closer to the palm and is used to limit the rightmost angle when the thumb lateral swing connector 3-2 rotates to the position closest to the palm. As a preferred embodiment of the above, such as Figures 1-12As shown, each finger unit achieves bidirectional mechanical rigid restraint across the entire joint through a restraining structure integrally formed on each phalanx and the palm base. At the extension limit position, the first restraining protrusion 2-6 at the bottom of the back of the first phalanx abuts against the top of the back of the second phalanx; the bottom of the back of the second phalanx abuts against the second restraining protrusion 2-7 at the top of the back of the third phalanx; and the bottom of the back of the third phalanx abuts against the connecting part of the left-right swinging connector 2-2, forming a three-stage extension restraint chain. At the bending limit position, the connecting post between the first and second phalanx abuts against the first recess 2-3 at the top of the fingertip of the second phalanx; the bottom of the fingertip of the second phalanx abuts against the connecting post of the third phalanx, and the second recess 2-4 and the third recess 2-5 together form the bending motion space; the bottom of the outer shell of the third phalanx abuts against the connecting part of the left-right swinging connector 2-2, forming a three-stage bending restraint. The three recesses have different structures due to their adaptation to the different movement trajectories of the connecting posts. Regarding left and right swing limiting, the palm base 1 is integrally formed with grooves 1-6 for installing the left and right swing connectors 2-2. The two side walls of the grooves 1-6 provide bidirectional angular limiting for left and right swing. The opening angle of each finger unit corresponding to the grooves 1-6 is different to adapt to the independent range of motion of each finger. The palm base 1 is also provided with wrist bottom cover plate mounting holes 1-5. After the wrist bottom cover plate 4 is assembled, the bottom end of the thumb fixing shaft 1-4 is closed and the thumb flexion and extension connector 3-1 is pressed to achieve axial limiting. The wrist bottom cover plate 4 is provided with a hub structure for the integration and outflow of all drive lines and a mechanical interface for connecting the wrist. The above structure ensures that the extension, bending, and lateral movement of the finger units are all directly limited by the mechanical structure, thus avoiding overdrive damage and drive line breakage at the source. Each recess ensures bending movement space while limiting movement. The differentiated opening angles of each groove 1-6 make the lateral movement limitation of the four fingers conform to the bionic movement law. The wrist bottom cover plate 4 has four functions: closed protection, axial limitation, line integration, and wrist extension, which improves the overall compactness and modularity of the palm structure.

[0026] A control method for a bionic robotic hand, the bionic robotic hand comprising a palm base 1 and a four-finger assembly 2 disposed at its front end, the palm base 1 being sequentially divided along its thickness from the palm side to the back side into a palm layer 1-1, a middle layer 1-2, and a back layer 1-3, the palm layer 1-1 and the back layer 1-3 having flexion-extension wiring channels, the middle layer 1-2 having a lateral swing wiring channel, and the four-finger assembly 2 comprising multiple finger units, each finger unit being connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel, including the following... Steps: Pull the flexion-extension drive line corresponding to any finger unit in the palm layer 1-1 to drive the finger unit to perform a bending action; pull the flexion-extension drive line corresponding to any finger unit in the back of the hand layer 1-3 to drive the finger unit to perform an extension action; pull the lateral swing drive line corresponding to the finger unit in the middle layer 1-2 to drive the finger unit to perform a left-right swing action; wherein, the bending action, the extension action and the left-right swing action are independent of each other, can be performed one at a time or simultaneously, and do not interfere with each other when performed simultaneously.

[0027] Specifically, when using this control method to control the four-finger assembly, the operator selectively pulls the drive line of the corresponding finger unit according to the target action requirement. When a finger unit needs to perform a flexion action, the flexion-extension drive line corresponding to that finger unit, located in the palm layer 1-1, is pulled. The drive line moves along the wiring channel in the palm layer 1-1 from the wrist towards the finger root, enters the wiring channel within the finger unit through the third phalanx entrance, and sequentially passes through the third, second, and first phalanxes, reaching the cross-shaped distribution hole 2-1 at the top of the first phalanx. The tightening force of the drive line causes the finger unit to rotate around the hinge axis between the phalanges towards the palm, completing the flexion action. When a finger unit needs to perform an extension action, the flexion-extension drive line corresponding to that finger unit, located in the back of the hand layer 1-3, is pulled. The drive line moves along the wiring channel in the back of the hand layer 1-3 towards the finger root, similarly passing through the wiring channels within the phalanges to reach the cross-shaped distribution hole 2-1. The tightening force causes the finger unit to rotate back towards the back of the hand, completing the extension action. When a finger unit needs to perform a left-right swinging motion, the corresponding side-swing drive line of that finger unit in the middle layer 1-2 is pulled. The drive line moves along the corresponding wiring channel in the middle layer 1-2, passes through the wiring groove at the entrance end of the third phalanx and the wiring passage inside the left-right swinging connector 2-2, and then enters the wiring channel within each phalanx to reach the cross distribution hole 2-1. Through tightening force, the finger unit swings left or right around the rotation axis of the left-right swinging connector 2-2. When multiple finger units need to coordinate their movements or when the same finger unit needs to move in multiple degrees of freedom, the operator can pull multiple corresponding drive lines simultaneously. Since the wiring channels of the palm layer 1-1, the middle layer 1-2, and the back of the hand layer 1-3 are not spatially connected, each drive line maintains its own independent spatial trajectory during simultaneous movement, without crossing or contacting each other. Bending or extending movements and left-right swinging movements do not interfere with each other during the full stroke linkage, achieving independent and coordinated precise control of four fingers with multiple degrees of freedom.

[0028] A method for controlling a bionic robotic hand, the bionic robotic hand comprising a palm base 1, four-finger components 2, and a thumb component 3. The palm base 1 is divided along its thickness from the palm side to the back side into a palm layer 1-1, a middle layer 1-2, and a back layer 1-3. The palm layer 1-1 and the back layer 1-3 have flexion-extension wiring channels, and the middle layer 1-2 has a lateral swing wiring channel. The four-finger components 2 include multiple finger units, each finger unit connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel. The lower end of the palm base 1 has a thumb fixing shaft 1-4, and the middle layer 1-2 has a thumb wiring groove 1-. 2-6, the palm base 1 has a thumb inlet hole 1-7 and a thumb outlet hole 1-8. A central channel is formed inside the thumb fixing shaft 1-4. The side wall of the thumb fixing shaft 1-4 has a lower window 1-4-2 and an upper window 1-4-1. The thumb assembly 3 includes a thumb flexion-extension connector 3-1, a thumb left-right swing connector 3-2, and a thumb knuckle 3-3. The thumb flexion-extension connector 3-1 has a lower channel 3-1-2 and an upper channel 3-1-1 and is provided with a binding post 3-1-3. The following steps are included: Four-finger control step: pull the flexion-extension drive line corresponding to any finger unit in the palm layer 1-1 to drive the finger. The unit performs a bending action; pull the flexion-extension drive line corresponding to any finger unit in the palmar back layer 1-3 to drive the finger unit to perform an extension action; pull the side swing drive line corresponding to the finger unit in the middle layer 1-2 to drive the finger unit to perform a left-right swing action; thumb control steps: pull the drive line that enters the central channel through the thumb wiring groove 1-2-6 and the thumb inlet hole 1-7, passes through the lower window 1-4-2, enters the interior of the thumb left-right swing connector 3-2 through the wiring lower channel 3-1-2, and runs along the left and right side lines to the top of the thumb knuckle 3-3 to control the thumb assembly 3 to perform left-right swing. The thumb assembly 3 is activated by pulling the drive wire that passes through the thumb cable groove 1-2-6 and the thumb cable inlet hole 1-7 into the central channel, exits through the lower window 1-4-2, passes through the cable tray 3-1-2 into the thumb swing connector 3-2, and runs along the front and rear sides to the top of the thumb knuckle 3-3, thereby controlling the thumb assembly 3 to perform knuckle flexion and extension movements; the thumb assembly 3 is activated by pulling the drive wire that passes through the thumb cable groove 1-2-6 and the thumb cable inlet hole 1-7 into the thumb fixing shaft 1-4, and extends to the binding post 3-1-3 on the thumb flexion and extension connector 3-1 to be wound and fixed, thereby controlling the thumb assembly 3 to perform flexion and extension movements relative to the palm base 1.In the four-finger control step, the bending, extending, and left-right swinging movements are independent and can be executed individually or simultaneously without interference. In the thumb control step, the left-right swinging movement and the knuckle flexion and extension movements can be executed simultaneously without interference. The four-finger control step and the thumb control step can be executed individually or simultaneously to achieve grasping, pinching, pinching against each other, or side-pinching movements.

[0029] Specifically, when using this control method to control a complete bionic robotic hand, the operator executes four-finger control steps and thumb control steps respectively. These two types of steps can be executed independently or simultaneously. The execution method of the four-finger control steps is as follows: depending on the action requirements, selectively pull the flexion-extension drive line in the palm layer 1-1 to drive the target finger unit to perform a bending action, or pull the flexion-extension drive line in the back of the hand layer 1-3 to drive the target finger unit to perform an extension action, or pull the lateral swing drive line in the middle layer 1-2 to drive the target finger unit to perform a left-right swinging action. Each action can be executed one by one or simultaneously without interference. The thumb control mechanism is executed as follows: When the thumb needs to perform a left-right swinging motion, pull the drive line that enters the central channel through the thumb cable routing groove 1-2-6 and the thumb cable inlet hole 1-7, exits through the lower window 1-4-2, enters the thumb left-right swinging connector 3-2 through the lower cable routing channel 3-1-2, and runs along the left and right sides to the top of the thumb knuckle 3-3. The drive line tightens, causing the thumb left-right swinging connector 3-2 to rotate left or right around its rotation axis, thus achieving left-right swinging. When the thumb needs to perform knuckle flexion and extension, pull the drive line that enters through the same path but in a different direction... The drive line inside the thumb swing connector 3-2 runs along the front and back sides to the tip of the thumb knuckle 3-3. Tightening the drive line causes the thumb knuckle 3-3 to bend or extend around its hinge axis. When the thumb needs to perform flexion and extension relative to the palm base 1, the drive line, which passes through the thumb cable groove 1-2-6 and the thumb cable inlet hole 1-7, enters the thumb fixing axis 1-4, and extends to the binding post 3-1-3 on the thumb flexion and extension connector 3-1, is pulled and fixed. Tightening the drive line causes the entire thumb assembly 3 to rotate around the thumb fixing axis 1-4, achieving overall thumb flexion and extension. In the thumb control process, the left-right swing drive line and the knuckle flexion and extension drive line each travel along mutually perpendicular left-right and front-back channels inside the thumb swing connector 3-2, and can be pulled simultaneously without interfering with each other. When the four-finger control steps and the thumb control steps are executed simultaneously, the flexion, extension and lateral swing of the four fingers can be combined with the left and right swing, knuckle flexion and extension and overall flexion and extension of the thumb to achieve coordinated linkage of all degrees of freedom of the whole palm and complete complete hand operation actions such as grasping, pinching, pinching or lateral pinching.

Claims

1. A bionic mechanical hand, characterized in that, include: The palm base (1) is divided into palm layer (1-1), intermediate layer (1-2) and dorsal layer (1-3) along the thickness direction from the palm side to the back side. The four-finger assembly (2) is located at the front end of the palm base (1) and includes multiple finger units. Each finger unit is connected to a flexion-extension drive line for driving its flexion and extension and a lateral swing drive line for driving its left and right swing. The palm layer (1-1) and the back of the hand layer (1-3) are provided with a routing channel for the flexion-extension drive line to pass through, and the middle layer (1-2) is provided with a routing channel for the lateral swing drive line to pass through. The wiring channels of the palm layer (1-1), the middle layer (1-2), and the back of the hand layer (1-3) are not interconnected.

2. The bionic mechanical hand according to claim 1, characterized in that, Each finger unit includes a first phalanx, a second phalanx, and a third phalanx. The third phalanx is flexibly and rotatably connected to a left-right swing connector (2-2). The left-right swing connector (2-2) is rotatably disposed at the front end of the palm base (1). Each phalanx has an internal wiring channel extending along its length. The top of the first phalanx is provided with a cross-shaped distribution hole (2-1) for the drive wire to pass through and be fixed. The flexion-extension drive wire enters the finger unit through the wiring channel of the palm layer (1-1) or the palmar back layer (1-3), passes through the wiring channel inside each phalanx to the cross distribution hole (2-1), passes through and is wound and bound between the two longitudinal holes of the cross distribution hole (2-1), and then exits from the wiring channel of the palmar back layer (1-3) or the palm layer (1-1). The entrance end of the intra-knot wiring channel of the third phalanx is provided with a wiring groove, which provides the left and right swing connector (2-2) with a degree of freedom of movement. After the side swing drive line enters the finger unit through the wiring channel of the intermediate layer (1-2), it passes through the wiring groove, the left and right swing connector (2-2) and the intra-knot wiring channel of each phalanx in sequence, and after being fixed by the cross distribution hole (2-1), it exits through the wiring channel of the intermediate layer (1-2).

3. The bionic mechanical hand according to claim 1, characterized in that, The intermediate layer (1-2) has five routing channels for the side swing drive line to pass through, namely, the independent swing channel on the outer side of the index finger (1-2-1), the swing channel shared by the index and middle fingers (1-2-2), the swing channel shared by the middle and ring fingers (1-2-3), the swing channel shared by the ring and little fingers (1-2-4), and the independent swing channel on the outer side of the little finger (1-2-5). The independent swing channel (1-2-1) on the outer side of the index finger is located on the outermost side of the middle layer (1-2), with one end extending to the base of the index finger; the independent swing channel (1-2-5) on the outer side of the little finger is located on the other outermost side of the middle layer (1-2), with one end extending to the base of the little finger. The index and middle fingers share a common swing channel (1-2-2), which forks at the end to form a first index finger branch and a first middle finger branch, extending to the base of the index finger and the base of the middle finger, respectively; the middle and ring fingers share a common swing channel (1-2-3), which forks at the end to form a second middle finger branch and a first ring finger branch, extending to the base of the middle finger and the base of the ring finger, respectively; the ring and little fingers share a common swing channel (1-2-4), which forks at the end to form a second ring finger branch and a first little finger branch, extending to the base of the ring finger and the base of the little finger, respectively. The wiring channels of the palm layer (1-1), the middle layer (1-2) and the back of the hand layer (1-3) start from the root of each finger unit and gradually converge to the wrist of the palm base (1) in an arc path, forming a wire outlet hole at the wrist for each drive line to be led out.

4. The bionic mechanical hand according to claim 1, characterized in that, It also includes a thumb assembly (3), which includes a thumb flexion-extension connector (3-1), a thumb left-right swing connector (3-2), and a thumb knuckle (3-3); the lower end of the palm base (1) is provided with a thumb fixing shaft (1-4), the thumb flexion-extension connector (3-1) is rotatably sleeved on the thumb fixing shaft (1-4), the thumb left-right swing connector (3-2) is rotatably connected to the thumb flexion-extension connector (3-1) through a shaft, and the thumb knuckle (3-3) is flexibly and rotatably connected to the thumb left-right swing connector (3-2); The middle layer (1-2) of the palm base (1) is provided with a thumb wiring groove (1-2-6), which extends from the wrist position to the direction of the thumb fixing axis (1-4); the palm base (1) is provided with a thumb inlet hole (1-7) and a thumb outlet hole (1-8), the thumb inlet hole (1-7) is located inside the thumb fixing axis (1-4), and the thumb outlet hole (1-8) is located above the thumb fixing axis (1-4). Both the thumb inlet hole (1-7) and the thumb outlet hole (1-8) are connected to the thumb wiring groove (1-2-6); The thumb fixing shaft (1-4) has a central channel extending along its axial direction. The central channel has a vertically lower hole and a vertically upper hole. The thumb inlet hole (1-7) is close to and communicates with the vertically lower hole, and the thumb outlet hole (1-8) is close to and communicates with the vertically upper hole. The side wall of the thumb fixing shaft (1-4) has an upper window (1-4-1) and a lower window (1-4-2). The thumb flexion and extension connector (3-1) has an upper cable routing channel (3-1-1) and a lower cable routing channel (3-1-2) arranged vertically. The drive line that drives the thumb assembly (3) to swing left and right passes through the thumb cable tray (1-2-6) to the thumb cable inlet hole (1-7), exits through the thumb cable inlet hole (1-7), enters the central channel through the vertical lower hole, exits through the lower window (1-4-2), enters the cable tray lower channel (3-1-2), runs along the left and right sides through the internal channel of the thumb left and right swing connector (3-2), reaches the fixed structure at the top of the thumb knuckle (3-3), then returns to the cable tray upper channel (3-1-1) through the other side internal channel of the thumb left and right swing connector (3-2), enters the central channel through the upper window (1-4-1), exits through the vertical upper hole, and returns to the thumb cable tray (1-2-6) through the thumb cable outlet hole (1-8). The drive line that drives the flexion and extension of the thumb assembly (3) passes through the thumb cable groove (1-2-6) to the thumb cable inlet hole (1-7), exits through the thumb cable inlet hole (1-7), enters the central channel through the vertical lower hole, exits through the lower window (1-4-2), enters the cable lower channel (3-1-2), runs along the front and rear sides through the internal channel of the thumb left and right swing connector (3-2), reaches the fixed structure at the top of the thumb knuckle (3-3), then returns to the cable upper channel (3-1-1) through the other side internal channel of the thumb left and right swing connector (3-2), enters the central channel through the upper window (1-4-1), exits through the vertical upper hole, and returns to the thumb cable groove (1-2-6) through the thumb cable outlet hole (1-8). The left and right side wirings are perpendicular to each other in space and do not intersect with the front and rear side wirings.

5. The bionic mechanical hand according to claim 4, characterized in that, The thumb flexion-extension connector (3-1) is provided with a binding post (3-1-3). The drive line that drives the thumb assembly (3) to flex and extend relative to the palm base (1) passes through the thumb wiring groove (1-2-6) and the thumb inlet hole (1-7) into the thumb fixing shaft (1-4). Then, it extends through the wire hole on the thumb flexion-extension connector (3-1) to the binding post (3-1-3) for winding and fixing. Finally, it passes through another wire hole and returns to the thumb wiring groove (1-2-6) along the original path. Both the thumb flexion-extension connector (3-1) and the thumb left-right swing connector (3-2) have control line movable openings for the drive line to pass through, so as to provide space for the path change of the drive line when the thumb flexion-extension connector (3-1) and the thumb left-right swing connector (3-2) rotate relative to each other.

6. The bionic mechanical hand according to claim 4, characterized in that, The thumb phalanx (3-3) includes a first phalanx and a second phalanx, and has an extension limit position and a flexion limit position: When the extension is at its limit, the bottom back of the first phalanx is provided with a first groove (3-3-1), which cooperates with the first limiting protrusion (3-3-2) at the top back of the second phalanx to limit the movement. The second limiting protrusion (3-3-3) at the bottom back of the second phalanx abuts against the thumb swing connector (3-2) to limit the movement. When the fingertip is at its bending limit, the second groove (3-3-4) at the bottom of the first phalanx cooperates with the connecting post between the second phalanx and the first phalanx to limit the bending action. The third groove (3-3-5) at the top of the second phalanx and the second groove (3-3-4) together form the bending action space. The fourth groove (3-3-6) at the bottom of the second phalanx abuts against the thumb swing connector (3-2) to limit the bending action. Both the finger unit and the thumb joint (3-3) have thumb expansion and fixing holes on their fingertips, and the back of the fingers have finger expansion and fixing openings (2-9) for expanding and fixing the skin or sensors.

7. The bionic mechanical hand according to claim 2, characterized in that, The finger unit has an extension limit position and a flexion limit position: When in the extended limit position, the bottom end of the back of the first phalanx is provided with a first limiting protrusion (2-6), which abuts against the top end of the back of the second phalanx; the bottom end of the back of the second phalanx abuts against the second limiting protrusion (2-7) provided at the top end of the back of the third phalanx; the bottom end of the back of the third phalanx abuts against the connecting part on the left and right swing connector (2-2) that is connected to the flexion and extension rotation of the third phalanx; At the bending limit position, the connecting post on the first phalanx, which is flexed and rotated with the second phalanx, abuts against the tip of the fingertip of the second phalanx. The tip of the fingertip of the second phalanx has a first recess (2-3) to accommodate the connecting post and provide space for bending. The bottom of the fingertip of the second phalanx abuts against the connecting post on the third phalanx, which is flexed and rotated with the second phalanx. The bottom of the fingertip of the second phalanx has a second recess (2-4), and the top of the outer shell of the third phalanx has a third recess (2-5). The bottom of the outer shell of the third phalanx abuts against the connecting part on the left-right swing connector (2-2), which is flexed and rotated with the third phalanx. The structures of the first recess (2-3), the second recess (2-4), and the third recess (2-5) are different. The palm base (1) is integrally formed with a groove (1-6) for installing each of the left and right swing connectors (2-2). The two side walls of the groove (1-6) limit the left and right swing angle of the left and right swing connector (2-2). The opening angle of the groove (1-6) corresponding to each finger unit is set according to the required activity space of the finger unit, and the opening angle of each groove (1-6) is different from each other. The palm base (1) is also provided with a wrist bottom cover plate mounting hole (1-5) for installing a wrist bottom cover plate (4). The wrist bottom cover plate (4) closes the bottom end of the thumb fixing shaft (1-4) and presses the thumb flexion and extension connector (3-1). The wrist bottom cover plate (4) is provided with a structure for integrating and leading out all drive lines and for extending the connection of the wrist part.

8. A control method for a bionic mechanical hand, characterized in that, The bionic mechanical hand includes a palm base (1) and a four-finger assembly (2) disposed at its front end. The palm base (1) is divided into a palm layer (1-1), a middle layer (1-2), and a back layer (1-3) along the thickness direction from the palm side to the back side. The palm layer (1-1) and the back layer (1-3) are provided with flexion-extension wiring channels, and the middle layer (1-2) is provided with a lateral swing wiring channel. The four-finger assembly (2) includes multiple finger units, and each finger unit is connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel. The assembly includes the following steps: Pull the flexion-extension drive line corresponding to any of the finger units in the palm layer (1-1) to drive the finger unit to perform a bending action; Pull the flexion-extension drive line corresponding to any of the finger units in the palmar dorsal layer (1-3) to drive the finger unit to perform an extension action; Pull the side swing drive line of the corresponding finger unit in the intermediate layer (1-2) to drive the finger unit to perform left and right swinging movements; The bending action, the stretching action, and the left and right swinging action are independent of each other and can be performed one by one or simultaneously, and they do not interfere with each other when performed simultaneously.

9. A method for controlling the entire hand of a bionic mechanical hand, characterized in that, The bionic mechanical hand includes a palm base (1), a four-finger assembly (2), and a thumb assembly (3). The palm base (1) is divided into a palm layer (1-1), a middle layer (1-2), and a back layer (1-3) along the thickness direction from the palm side to the back side. The palm layer (1-1) and the back layer (1-3) are provided with flexion-extension wiring channels, and the middle layer (1-2) is provided with a lateral swing wiring channel. The four-finger assembly (2) includes multiple finger units, each finger unit is connected to a flexion-extension drive line passing through the flexion-extension wiring channel and a lateral swing drive line passing through the lateral swing wiring channel. The lower end of the palm base (1) is provided with a thumb fixing shaft (1-4). The middle layer (1-1) and the back layer (1-2) are provided with flexion-extension drive lines passing through the flexion-extension wiring channels and lateral swing drive lines passing through the lateral swing wiring channels. The lower end of the palm base (1) is provided with a thumb fixing shaft (1-4). 2) The thumb is provided with a wire routing groove (1-2-6). The palm base (1) is provided with a thumb wire inlet hole (1-7) and a thumb wire outlet hole (1-8). A central channel is formed in the thumb fixing shaft (1-4). The side wall of the thumb fixing shaft (1-4) is provided with a lower window (1-4-2) and an upper window (1-4-1). The thumb assembly (3) includes a thumb flexion and extension connector (3-1), a thumb left and right swing connector (3-2), and a thumb knuckle (3-3). The thumb flexion and extension connector (3-1) is provided with a wire routing channel (3-1-2) and a wire routing channel (3-1-1) and a wire binding post (3-1-3). The assembly includes the following steps: Four-finger control steps: Pull the flexion-extension drive line corresponding to any finger unit in the palm layer (1-1) to drive the finger unit to perform a bending action; pull the flexion-extension drive line corresponding to any finger unit in the back of the hand layer (1-3) to drive the finger unit to perform an extension action; pull the lateral swing drive line corresponding to the finger unit in the middle layer (1-2) to drive the finger unit to perform a left-right swing action; Thumb control steps: Pull the drive line through the thumb wiring groove (1-2-6) and the thumb inlet hole (1-7) into the central channel, and out through the lower window (1-4-2) into the thumb left and right swing connector (3-2) through the wiring lower channel (3-1-2), and along the left and right sides to the top of the thumb knuckle (3-3) to control the thumb assembly (3) to perform left and right swinging movements; pull the drive line through the thumb wiring groove (1-2-6) and the thumb inlet hole (1-7) into the central channel, and out through the lower window (1-4-2) After passing through the undercarriage channel (3-1-2), the drive line enters the interior of the thumb swing connector (3-2) and runs along the front and rear sides to the top of the thumb knuckle (3-3) to control the thumb assembly (3) to perform knuckle flexion and extension movements; the drive line that passes through the thumb undercarriage groove (1-2-6) and the thumb inlet hole (1-7) to enter the thumb fixing shaft (1-4) and extends to the binding post (3-1-3) on the thumb flexion and extension connector (3-1) is wound and fixed to control the thumb assembly (3) to perform flexion and extension movements relative to the palm base (1); Among them, the bending, extending and left and right swinging movements in the four-finger control steps are independent of each other, and can be executed one by one or simultaneously without interfering with each other; the left and right swinging movements and the knuckle flexion and extension movements in the thumb control steps can be executed simultaneously without interfering with each other; the four-finger control steps and the thumb control steps can be executed one by one or simultaneously to achieve grasping, pinching, pinching or side pinching movements.

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