Multi-degree-of-freedom high-flexibility bionic hand

Abstract

The utility model discloses a multi-degree-of-freedom high-flexibility bionic hand, which belongs to the field of prosthetic hands, and is characterized by mainly comprising a palm, an arm, five fingers, a side swinging mechanism, a steel wire rope and a steering engine set, the palm is composed of an upper palm and a lower palm which are detachable, and the side swing mechanism is located in the palm. The arm is composed of an upper arm body and a lower arm body which are detachable, and the steering engine set is installed in the arm. The five fingers are each composed of a plurality of knuckles and connected with the palm through polished rod bolts. The palm and the arm are fixed together through a bolt; the five fingers are connected with the steering engine set through steel wire ropes. The bionic hand disclosed by the utility model has multiple degrees of freedom, high flexibility and higher similarity with a human hand; each finger except the middle finger has two degrees of freedom of flexion and extension and side-sway, a finger side clamping function and a large object grabbing function can be realized through the side-sway mechanism, a fingertip clamping function is realized by the thumb and the four fingers, and more daily life requirements of amputated patients can be met; and the structure is simple, manufacturing cost is low, and maintenance is easy.

Description

Technical Field

[0001] The utility model relates to the technical field of prosthetic hand structures, in particular to a multi-freedom high-dexterity bionic hand. Background Art

[0002] People with impaired upper limbs, especially those with impaired hands below the forearm, cannot normally pick up and put objects, which seriously affects their normal life and work. Although the current bionic hands can do the actions of picking up and putting objects, most of them have the characteristics of few degrees of freedom and low dexterity, and cannot meet more daily life needs. Therefore, it is urgent to design a bionic hand with multiple degrees of freedom and high dexterity to meet the daily life needs of people with upper limb disabilities. Summary of the invention

[0003] The utility model aims to provide a bionic hand with multiple degrees of freedom and high dexterity to solve the problems raised in the above-mentioned background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A bionic hand with multiple degrees of freedom and high dexterity is characterized in that it is mainly composed of a palm, an arm, five fingers, a side-swing mechanism, a steel wire and a steering gear; the palm is composed of two detachable upper and lower palm parts, and the side-swing mechanism is located inside the palm; the arm is composed of an detachable upper and lower arm, and the steering gear unit is installed inside the arm; the five fingers are each composed of multiple knuckles, and are connected to the palm through bare rod bolts; the palm is fixed to the arm through bolts; and the five fingers are connected to the steering gear unit through steel wires.

[0006] Furthermore, there is a depression on one side of the palm, and the thumb is placed in the depression and connected to the palm through a bare rod bolt.

[0007] Furthermore, each knuckle of the five fingers is composed of mutually mirrored knuckles and mirrored knuckles, which are connected by bare rod bolts.

[0008] Furthermore, except for the thumb, the other four fingers are composed of the distal phalanx, middle phalanx, proximal phalanx, base joint and metacarpal bone; the thumb is composed of the distal phalanx, proximal phalanx and metacarpal bone of the thumb.

[0009] Furthermore, a circular channel is provided inside each knuckle of the five fingers, and the steel wire rope passes through the circular channel, with one end fixed to the distal knuckle of the five fingers and the other end connected to the steering gear unit.

[0010] Furthermore, there is a protrusion on the upper side of the thumb, one end of the wire rope is fixed to the protrusion, and the other end is connected to the steering gear unit.

[0011] Furthermore, each knuckle of the five fingers is provided with a groove, and a torsion spring is placed in the groove to reset two adjacent knuckles.

[0012] Furthermore, the side swing mechanism includes an intermediate rotating mechanism, a first connecting rod, a second connecting rod and a third connecting rod; the upper and lower ends of the intermediate rotating mechanism are connected to the first connecting rod and the second connecting rod, the left end is connected to the tension spring, and the right end is connected to the steering gear unit through a wire rope.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0014] 1. The bionic hand of the utility model adopts a rope-driven method, and has a simpler structure, and is more bionic and anthropomorphic. Seven servos are used to achieve precise and flexible control of the human hand, and each finger except the middle finger has the freedom of bending, straightening and lateral swinging. The lateral swing mechanism can realize the outward expansion of the four fingers, so that the bionic hand has a larger envelope space and can better grasp large objects; secondly, the four fingers can be retracted and brought together, and then the function of the finger side clamping and gripping objects of the human hand can be realized. The thumb can change its position relative to the palm by lateral swinging, realizing the function of the thumb and the other four fingertips to grip objects. It is closer to a real human hand in terms of function, and patients with upper limb disabilities can meet more daily life needs after wearing the bionic hand.

[0015] 2. The bionic hand of the utility model has five fingers, each of which is composed of two mirror-image knuckles, connected by bare rod bolts, which is convenient for installation and disassembly, simple for maintenance and lower in cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For those skilled in the art, other drawings can also be obtained based on these drawings.

[0017] Figure 1 The overall structure diagram of the embodiment of the utility model is as follows

[0018] Figure 2 The schematic diagram of the internal overall structure of the embodiment of the utility model is as follows

[0019] Figure 3 Schematic diagram of the internal structure of the four fingers except the thumb in the embodiment of the utility model

[0020] Figure 4 A schematic diagram of the internal structure of the thumb finger of the utility model

[0021] Figure 5Schematic diagram of the side swing mechanism of the utility model embodiment

[0022] Figure 6 Another schematic diagram of the side swing mechanism of the utility model embodiment

[0023] Figure 7 The schematic diagram of the overall steel wire rope connection of the embodiment of the utility model is as follows

[0024] Figure 8 Schematic diagram of the thumb wire rope connection of the utility model embodiment

[0025] Fig. 9 Another schematic diagram of the thumb wire rope connection of the utility model embodiment

[0026] Fig.10 Schematic diagram of four-finger expansion according to an embodiment of the utility model

[0027] Fig.11 Schematic diagram of four fingers inwardly adducted according to an embodiment of the utility model

[0028] Fig.12 Schematic diagram of the thumb and index finger facing each other in the embodiment of the utility model

[0029] Fig.13 Schematic diagram of the thumb and ring finger pointing together in the embodiment of the utility model

[0030] Among them: 1 palm, 2 arm, 3 five fingers, 4 side swing mechanism, 4-1 middle rotation mechanism, 4-2 first connecting rod, 4-3 second connecting rod, 4-4 third connecting rod, 4-5 tension spring, 5 steering gear group, 6 thumb, 6-1 distal knuckle of thumb, 6-2 proximal knuckle of thumb, 6-3 metacarpal bone of thumb, 6-4 protrusion, 6-5 channel, 7 distal knuckle, 8 middle knuckle, 9 proximal knuckle, 10 base joint, 11 metacarpal bone, 12 knuckle, 13 mirror knuckle, 14 circular channel, 15 wire rope, 16 torsion spring, 17 groove, 18, thumb flexion and extension wire rope, 19 thumb side swing wire rope, 20 palm protrusion cylinder, 21 first palm channel, 22 second palm channel. Specific embodiments

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, and "several" means more than one, unless otherwise clearly and specifically defined.

[0034] Example:

[0035] See also Figures 1 to 9 The utility model provides a technical solution: a multi-degree-of-freedom high-dexterity bionic hand, characterized in that it is mainly composed of a palm 1, an arm 2, five fingers 3, a side-swing mechanism 4, a steel wire and a steering gear unit 5; the palm 1 is composed of two detachable upper and lower palm parts, and the side-swing mechanism 4 is located inside the palm; the arm 2 is composed of a detachable upper and lower arm, and the steering gear unit 5 is installed inside the arm 2; the five fingers 3 are composed of multiple knuckles, which are connected to the palm 1 through bare rod bolts; the palm 1 is fixed to the arm 2 through bolts; the five fingers 3 are connected to the steering gear unit 5 through steel wires.

[0036] Furthermore, there is a depression on one side of the palm 1, and the thumb 6 is placed in the depression and connected to the palm 1 through a bare rod bolt.

[0037] Furthermore, there is a protrusion 6 - 4 on the upper side of the thumb 6 , one end of the steel wire rope 19 is fixed to the protrusion 6 - 4 , and the other end is connected to the steering gear unit 5 .

[0038] like Figure 4 , Figure 8 , Fig. 9As shown, the flexion and extension and lateral swing of the thumb are further explained: one end of the steel wire 19 is fixed at the protrusion 6-4, passing through the second channel 22 on the palm 1, and the other end is fixed on a steering gear. The rotation of the steering gear drives the steel wire 19 to contract, and then drives the thumb 6 to rotate around the light rod bolt to change the position of the thumb 6 corresponding to the palm 1, so as to realize the lateral swing function of the thumb 6. One end of the steel wire 18 is fixed inside the distal phalanx 6-1 of the thumb, passes through the channel 6-5 inside the phalanx in turn, passes through the first channel 21 on the palm 1, and the other end is fixed on a steering gear. The rotation of the steering gear drives the steel wire 18 to contract, and then drives the thumb 6 to bend; when the steering gear unloads the force, the thumb 6 returns to the straight state under the action of the torsion spring.

[0039] Furthermore, each of the five fingers 3 is composed of mirror-imaged finger joints 12 and mirror-imaged finger joints 13, which are connected by bare rod bolts, so as to facilitate installation, disassembly and maintenance of the steel wire rope inside the finger.

[0040] Furthermore, except for the thumb 6, the other four fingers of the five fingers 3 are composed of a distal phalanx 7, a middle phalanx 8, a proximal phalanx 9, a base joint 10 and a metacarpal bone 11; the thumb 6 is composed of a distal phalanx 6-1, a proximal phalanx 6-2 and a metacarpal bone 6-3; adjacent phalanxes are connected by a polished bolt; and the metacarpal bone and the palm are also connected by a polished bolt.

[0041] Furthermore, a circular channel 14 is provided inside each knuckle of the five fingers 3 , and the steel wire rope passes through the circular channel 14 , with one end fixed to the distal knuckle of the five fingers 3 and the other end connected to the steering gear unit 5 .

[0042] Furthermore, each knuckle of the five fingers 3 is provided with a groove 17 , and a torsion spring 16 is placed in the groove 17 to reset two adjacent knuckles.

[0043] Except for the thumb, the other four fingers have the same structure. Figure 3 Take the example of the thumb to explain the structure of the other four fingers. Figure 3 As shown in the schematic diagram of the internal structure of the other four fingers except the thumb, one end of the steel wire 15 is fixed inside the distal knuckle of the finger, passes through the circular channel 14 inside each knuckle in turn, and finally connects to the steering gear unit 5 through the through hole opened on the palm 1. Figure 7 As shown in the overall wire rope connection diagram, the steering gear group 5 is arranged in different heights and front and back, so as to avoid interference between the wire ropes. It is also possible to save the space inside the palm 1 by arranging the wire ropes with pulleys. When the steering gear rotates to retract the wire rope 15, the fingers bend under the drive of the wire rope 15. When the steering gear unloads the force, the fingers return to the original straight state under the action of the torsion spring 16.

[0044] Furthermore, the side swing mechanism 4 includes an intermediate rotating mechanism 4-1, a first connecting rod 4-2, a second connecting rod 4-3 and a third connecting rod 4-4; the upper and lower ends of the intermediate rotating mechanism 4-1 are connected to the first connecting rod 4-2 and the second connecting rod 4-3, the left end of the intermediate rotating mechanism 4-1 is connected to the tension spring 4-5, and the right end is connected to the steering gear unit 5 through a wire rope.

[0045] like Figure 5 , Figure 6 , Fig.10 , Fig.11 As shown, the intermediate rotating mechanism 4-1 is installed on the palm raised cylinder 20. Driven by the steel wire rope, the intermediate rotating mechanism 4-1 can rotate on the palm raised cylinder 20, thereby driving the connecting rod to swing. The connecting rod is connected to the metacarpal bones of the four fingers, so that the four fingers can swing sideways at a certain angle. When the tension spring 15 is installed, it has a certain pre-tightening force at the beginning, and the pre-tightening force is offset by the steering gear to keep the four fingers in a normal vertical state. When the steering gear drives the steel wire rope to contract, the intermediate rotating mechanism 4-1 rotates clockwise, causing the four fingers to expand outward; when the steering gear unloads the force, under the action of the pre-tightening force of the tension spring 4-5, the intermediate rotating mechanism 4-1 rotates counterclockwise, which can realize the inward retraction of the four fingers, thereby realizing the function of clamping objects between the four fingers.

[0046] like Fig.12 , Fig.13 As shown, taking the thumb, index finger and ring finger facing each other as an example, the thumb 6 can swing sideways and flex and extend at a certain angle, and the four fingers can swing sideways and flex and extend at a certain angle to achieve the thumb 6 and the other four fingers facing each other, thereby realizing the function of clamping objects with the fingertips.

[0047] Working principle: The utility model realizes the control of the bionic hand through seven servos, so that the five fingers of the bionic hand except the middle finger have the freedom of flexion, extension and side swing. Five of the servos control the flexion and extension of the five fingers respectively, and the other two servos control the side swing of the thumb and the side swing of the other four fingers (i.e., outward expansion and inward adduction) respectively. For the flexion and extension freedom: through a host computer software, the rotation angle of the servo is adjusted to drive the wire rope to contract, and under the traction force of the wire rope, the fingers perform flexion and extension movements. When the servo unloads the force and returns to the original angle, under the preload force of the torsion spring inside the finger, the five fingers return to the original straight state, that is, the flexion and extension movement of the finger is completed. For the side swing freedom of the thumb: the wire rope is fixed to the protrusion on the upper side of the thumb, and the host computer software controls the servo to rotate a certain angle, driving the wire rope to contract, and then pulling the thumb to swing sideways relative to the palm. The thumb and palm are connected by a tension spring on the back of the thumb. When the servo unloads the force and returns to the initial angle, the thumb returns to the initial position under the action of the tension spring, completing the side swing action. For the side swing freedom of the four fingers: the upper computer software controls the servo to rotate a certain angle, drives the wire rope to contract, and makes the middle rotating mechanism rotate clockwise, driving the three connecting rods connected to it to swing. The connecting rods are connected to the metacarpal bones of the fingers, and then can drive the fingers to rotate a certain angle to achieve the outward expansion of the four fingers. When installing the tension spring 4-5, it has a certain preload force at the beginning, and the servo is used to offset this preload force to keep the four fingers in a normal vertical state. When the servo drives the wire rope to contract, the middle rotating mechanism 4-1 rotates clockwise, drives the connecting rod connected to it to swing, and then drives the fingers to swing, so that the four fingers expand outward; when the servo unloads the force, under the action of the preload force of the tension spring 4-5, the middle rotating mechanism 4-1 rotates counterclockwise, which can achieve the inward retraction of the four fingers, and then realize the function of clamping objects between the four fingers. Seven servos are controlled by the upper computer software and given a certain angle respectively, so that the fingers can bend and swing sideways at a certain angle to realize the finger-to-finger function of the thumb and four fingers, and realize the function of clamping objects with the fingertips.

[0048] The above shows and describes the basic principle, main features and advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the utility model, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom high-dexterity bionic hand, characterized in that: The invention mainly comprises a palm (1), an arm (2), five fingers (3), a lateral swing mechanism (4), a steel wire rope and a steering gear unit (5); the palm (1) comprises two detachable upper and lower palm parts, and the lateral swing mechanism (4) is located inside the palm (1); the arm (2) comprises an upper and lower arm that can be detached, and the steering gear unit (5) is installed inside the arm (2); the five fingers (3) each comprise a plurality of knuckles and are connected to the palm (1) via bare rod bolts; the palm (1) is fixed to the arm (2) via bolts; and the five fingers (3) are connected to the steering gear unit (5) via steel wire ropes.

2. A multi-degree-of-freedom high-dexterity bionic hand as claimed in claim 1, characterized in that: A depression is provided on one side of the palm (1), and the thumb (6) is placed in the depression and connected to the palm (1) via a polished bolt.

3. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: Each knuckle of the five fingers (3) is composed of a knuckle (12) and a mirror image knuckle (13) that are mirror images of each other and are connected by a polished rod bolt.

4. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: The five fingers (3) except the thumb (6) are composed of the distal phalanx (7), the middle phalanx (8), the proximal phalanx (9), the base joint (10) and the metacarpal bone (11); the thumb (6) is composed of the distal phalanx (6-1), the proximal phalanx (6-2) and the metacarpal bone (6-3).

5. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: A circular channel (14) is provided inside each knuckle of the five fingers (3); the steel wire rope passes through the circular channel (14), one end of the steel wire rope is fixed to the distal knuckle of the five fingers (3), and the other end is connected to the steering gear unit (5).

6. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: A protrusion (6-4) is provided on the upper side of the thumb (6); one end of a steel wire rope (19) is fixed to the protrusion (6-4), and the other end is connected to the steering gear unit (5).

7. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: A groove (17) is provided inside each knuckle of the five fingers (3), and a torsion spring (16) is placed in the groove (17) to reset two adjacent knuckles.

8. The multi-degree-of-freedom high-dexterity bionic hand according to claim 1, characterized in that: The sway mechanism (4) comprises an intermediate rotating mechanism (4-1), a first connecting rod (4-2), a second connecting rod (4-3) and a third connecting rod (4-4); the upper and lower ends of the intermediate rotating mechanism (4-1) are connected to the first connecting rod (4-2) and the second connecting rod (4-3), the left end is connected to a tension spring (4-5), and the right end is connected to a steering gear unit (5) via a steel wire rope.

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