Intelligent bionic hand

Abstract

The utility model relates to the technical field of bionic hands, in particular to an intelligent bionic hand which comprises a palm shell and bionic fingers, the palm shell comprises an upper palm shell and a lower palm shell, the upper palm shell and the lower palm shell are fixedly connected, the bionic fingers are arranged on the upper palm shell and rotationally connected with the upper palm shell, and the bionic fingers are arranged on the upper palm shell and rotationally connected with the lower palm shell. A power supply device, a driving device, a linear guide rail and a fixing column are arranged in the upper palm shell, the driving device drives the bionic fingers to move through a transmission rope, the power supply device directly supplies power to the driving device, the driving device comprises a stepping motor, a ball screw and a sliding block, and the ball screw is connected with the stepping motor; the ball screw is fixed in the upper palm shell through the screw supporting seat, and the sliding block is arranged on the ball screw and connected with the linear guide rail in a sliding mode. The mechanical arm is simple in structure, stable in finger movement, small in joint friction and low in later maintenance cost in the using process.

Description

TECHNICAL FIELD

[0001] The utility model relates to bionic hand technical field, especially intelligent bionic hand. BACKGROUND

[0002] Bionic hand is a kind of artificial limb tool, and the design of bionic finger is one of the hotspots in the field of artificial limb research today, so studying bionic finger has extremely important significance.

[0003] The design concept of traditional bionic hand product is rich, but still there are some disadvantages, first, the bionic hand structure on market is very complex, and the maintenance cost is high, second, traditional bionic hand generally adopts steering wheel to control the movement of each joint, and the control precision of steering wheel is low.

[0004] Therefore, we need an intelligent bionic hand to overcome the problems of bionic hand structure complexity, high maintenance cost and low control precision. UTILITY MODEL CONTENT

[0005] The utility model is aimed at solving the problems in the above background technology.

[0006] In order to achieve the above object, the utility model provides an intelligent bionic hand, including palm shell and bionic finger, the palm shell includes upper palm shell and lower palm shell, the upper palm shell and the lower palm shell are fixedly connected by bolt, the bionic finger is arranged on the upper palm shell and is rotationally connected with the upper palm shell;

[0007] The inside of the upper palm shell is provided with power device, driving device, linear guide rail and fixed column, the driving device drives the bionic finger movement through transmission rope, and the power device directly powers the driving device;

[0008] The driving device includes stepping motor, ball screw and sliding block, the ball screw is connected with the stepping motor, the ball screw is fixed on the upper palm shell through screw support seat, and the sliding block is arranged on the ball screw and is slidably connected with the linear guide rail.

[0009] Preferably, the bionic finger includes little thumb, ring finger, middle finger, index finger and big thumb, the little thumb, the ring finger, the middle finger and the index finger all include proximal phalanx and distal phalanx, and the distal phalanx and the proximal phalanx are rotationally connected through first pin shaft.

[0010] Preferably, four first joints and second joints are arranged on the outer wall of the upper palm shell, the proximal phalanx and the first joint are rotationally connected through second pin shaft, and the big thumb and the second joint are rotationally connected through second pin shaft.

[0011] Preferably, the proximal phalanges and the thumb are provided with first tension springs between the upper palm shell, and the proximal phalanges and the distal phalanges are provided with second tension springs.

[0012] Preferably, the distal phalanges are provided with first wire wheels inside, the thumb is provided with a second wire wheel inside, the bottom end of the distal phalanges is provided with a first shaft hole, the two ends of the first shaft hole are provided with a first bushing, the first joint and the second joint are provided with a second shaft hole, and the two ends of the second shaft hole are provided with a second bushing.

[0013] Preferably, the third wire wheel is rotatably connected to each of the fixed columns.

[0014] Preferably, the end of the upper palm shell is provided with a third joint, and the third joint is connected with an external mechanical arm.

[0015] Preferably, the outer surface of the lower palm shell is provided with a layer of bionic palm skin, and the inside of the bionic palm skin is provided with a touch sensor and a pressure sensor.

[0016] Preferably, the outer surface of the upper palm shell is provided with a control module, and the control module comprises a central processing unit, a circuit and an information receiver.

[0017] Therefore, the intelligent bionic hand has the following beneficial effects: the stepping motor is used to drive the sliding block to move on the ball screw, the transmission rope is driven to move, and finally the movement of the bionic fingers is controlled; the stepping motors are independent of each other, and the movement of the corresponding bionic fingers is controlled respectively; and the ball screw stepping motor can realize higher transmission precision.

[0018] By arranging the first bushing at the two ends of the first shaft hole at the lower end of the distal phalanges and the second bushing at the two ends of the second shaft hole at the first joint and the second joint, the gap between the components is reduced, the shaking during rotation is avoided, the relative rotation between the components is more stable, and the wear of the parts is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a front view of the intelligent bionic hand in the embodiment of the utility model;

[0020] Figure 2 It is a rear view of the intelligent bionic hand in the embodiment of the utility model;

[0021] Figure 3 It is a schematic view of the internal structure of the intelligent bionic hand in the embodiment of the utility model;

[0022] Figure 4A schematic view of the intelligent bionic hand in a bent state according to an embodiment of the present application;

[0023] Reference signs

[0024] 1, the upper palm shell; 2, the lower palm shell; 3, power supply device; 4, stepper motor; 5, linear guide rail; 6, fixed column; 7, transmission rope; 8, ball screw; 9, sliding block; 10, screw support seat; 11, little thumb; 12, ring finger; 13, middle finger; 14, index finger; 15, thumb; 16, proximal phalanx; 17, distal phalanx; 18, first pin shaft; 19, first joint; 20, second joint; 21, second pin shaft; 22, first tension spring; 23, second tension spring; 24, first wire wheel; 25, second wire wheel; 26, third wire wheel; 27, first bushing; 28, second bushing; 29, third joint; 30, bionic palm skin; 31, control module. DETAILED DESCRIPTION

[0025] The technical scheme of the present application is further described below by means of the accompanying drawings and embodiments.

[0026] Unless otherwise defined, technical terms or scientific terms used in the present application shall be understood as having the usual meaning as understood by a person with ordinary skill in the art to which the present application belongs. The terms "first", "second" and similar terms used in the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects listed before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] EMBODIMENT

[0028] As Figures 1-4 shown, the intelligent bionic hand of the present application comprises a palm shell and a bionic finger, the palm shell comprises an upper palm shell 1 and a lower palm shell 2, the upper palm shell 1 and the lower palm shell 2 are fixedly connected by bolts, the bionic finger is arranged on the upper palm shell 1 and is rotationally connected with the upper palm shell 1.

[0029] The inside of the upper palm shell 1 is provided with a power supply device 3, a driving device, a linear guide rail 5 and a fixed column 6, the driving device drives the bionic finger to move through a transmission rope 7, and the power supply device 3 directly supplies power to the driving device.

[0030] The driving device comprises a stepper motor 4, a ball screw 8 and a sliding block 9, the ball screw 8 is connected with the stepper motor 4, the ball screw 8 is fixed on the upper palm shell 1 through a screw support seat 10, and the sliding block 9 is arranged on the ball screw 8 and is in sliding connection with the linear guide rail 5.

[0031] The bionic fingers comprise a little thumb 11, a ring finger 12, a middle finger 13, an index finger 14 and a thumb 15, the little thumb 11, the ring finger 12, the middle finger 13 and the index finger 14 each comprise a proximal phalanx 16 and a distal phalanx 17, and the distal phalanx 17 is rotationally connected with the proximal phalanx 16 through a first pin shaft 18.

[0032] Four first joints 19 and second joints 20 are arranged on the outer side wall of the upper palm shell 1, the proximal phalanx 16 is rotationally connected with the first joint 19 through a second pin shaft 21, and the thumb 15 is rotationally connected with the second joint 20 through the second pin shaft 21.

[0033] The first tension spring 22 is arranged between the proximal phalanx 16 and the upper palm shell 1, and the second tension spring 23 is arranged between the proximal phalanx 16 and the distal phalanx 17.

[0034] The first wire wheel 24 is arranged in the interior of the distal phalanx 17, the second wire wheel 25 is arranged in the interior of the thumb 15, the third wire wheel 26 is rotationally connected to each fixed column 6, the first shaft hole is arranged at the bottom end of the distal phalanx 17, the first bushing 27 is arranged at both ends of the first shaft hole, the second shaft hole is arranged in the first joint 19 and the second joint 20, and the second bushing 28 is arranged at both ends of the second shaft hole, so that the gap between components is reduced, the shaking during rotation is avoided, the relative rotation between components is more stable, and the abrasion of parts is reduced.

[0035] The third joint 29 is arranged at the end of the upper palm shell 1, and the third joint 29 is connected with an external mechanical arm.

[0036] The outer surface of the lower palm shell 2 is provided with a layer of bionic palm skin 30, and the interior of the bionic palm skin 30 is provided with a touch sensor and a pressure sensor.

[0037] The outer surface of the upper palm shell 1 is provided with a control module 31, and the control module 31 comprises a central processing unit, a circuit and an information receiver.

[0038] The working principle of the intelligent bionic hand is as follows: when the bionic hand is in the stretched state, the first tension spring 22 and the second tension spring 23 are in the natural state, the stepping motor 4 is started, the stepping motor 4 drives the sliding block 9 to move on the ball screw 8 along the linear guide rail 5 towards the direction close to the stepping motor 4, drives the transmission rope 7 to pull each bionic finger to bend, at this time, the first tension spring 22 and the second tension spring 23 are in the stretched state; when the stepping motor 4 drives the sliding block 9 to move on the ball screw 8 along the linear guide rail 5 towards the direction away from the stepping motor 4, the first tension spring 22 and the second tension spring 23 slowly recover to the natural state, and finally the stretching of each bionic finger is completed, and each bionic finger is controlled by the mutually independent stepping motor 4, and each bionic finger can independently act.

[0039] The tactile sensor and the pressure tactile sensor arranged inside the bionic palm skin 30 convert the tactile information that is deformed in contact with the object into an electric signal and transmit the electric signal to the control module 31, the control module 31 analyzes the size and shape information of the contacted object, and then issues the bending or stretching instruction, and the dexterity and stability of the bionic hand in the grabbing operation are improved.

[0040] Therefore, the intelligent bionic hand with the above structure has the advantages that: the sliding block is driven to move on the ball screw by the stepping motor, the transmission rope is driven to move, the movement of the bionic finger is finally realized, the stepping motors are mutually independent, the corresponding bionic finger movement is respectively controlled, the transmission with higher precision can be realized by the ball screw stepping motor, the first bushing is arranged at the two ends of the first shaft hole located at the lower end of the distal phalanx, the second bushing is arranged at the two ends of the second shaft hole located at the first joint and the second joint, the gap between the components is reduced, the shaking does not occur during rotation, the relative rotation between the components is more stable, the abrasion of the parts is reduced, the structure is simple, the finger movement is stable during use, the friction at the joint is small, and the maintenance cost is low in the later period.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the utility model and not to limit them, although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: the technical solutions of the utility model can still be modified or replaced, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the utility model.

Claims

1. An intelligent bionic hand, characterized by: The application relates to a palm shell and bionic fingers, wherein the palm shell comprises an upper palm shell and a lower palm shell, the upper palm shell and the lower palm shell are fixedly connected through bolts, and the bionic fingers are arranged on the upper palm shell and rotationally connected with the upper palm shell. The inside of the upper palm shell is provided with a power supply device, a driving device, a linear guide rail and a fixing column, the driving device drives the bionic fingers to move through transmission ropes, and the power supply device directly supplies power to the driving device. The driving device comprises a stepping motor, a ball screw and a sliding block, the ball screw is connected with the stepping motor, the ball screw is fixed on the upper palm shell through a screw rod support seat, and the sliding block is arranged on the ball screw and slidably connected with the linear guide rail.

2. The intelligent bionic hand according to claim 1, characterized in that: The bionic fingers comprise a little thumb, a ring finger, a middle finger, an index finger and a big thumb, the little thumb, the ring finger, the middle finger and the index finger all comprise a proximal phalanx and a distal phalanx, and the distal phalanx and the proximal phalanx are all rotationally connected through first pin shafts.

3. The intelligent bionic hand of claim 2, wherein: The outside wall of the upper palm shell is provided with four first joints and a second joint, the proximal phalanges are all rotationally connected with the first joints through second pin shafts, and the big thumb is rotationally connected with the second joint through a second pin shaft.

4. The intelligent bionic hand of claim 3, wherein: First tension springs are arranged between the proximal phalanges and the big thumb and the upper palm shell, and second tension springs are arranged between the proximal phalanges and the distal phalanges.

5. The intelligent bionic hand of claim 4, wherein: The inside of the distal phalanx is provided with a first wire wheel, the inside of the big thumb is provided with a second wire wheel, the bottom end of the distal phalanx is provided with a first shaft hole, the two ends of the first shaft hole are provided with first bushings, the first joint and the second joint are provided with second shaft holes, and the two ends of the second shaft holes are provided with second bushings.

6. The intelligent bionic hand of claim 5, wherein: A third wire wheel is rotationally connected with each fixing column.

7. The intelligent bionic hand of claim 1, wherein: The end of the upper palm shell is provided with a third joint, and the third joint is connected with an external mechanical arm.

8. The intelligent bionic hand of claim 1, wherein: The outer surface of the lower palm shell is provided with a layer of bionic palm skin, and the inside of the bionic palm skin is provided with a touch sensor and a pressure sensor.

9. The intelligent bionic hand of claim 7, wherein: The outer surface of the upper palm shell is provided with a control module, and the control module comprises a central processing unit, a circuit and an information receiver.

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