Mechanical palm, manipulator and robot

Abstract

The utility model discloses a mechanical palm, a manipulator and a robot. The mechanical palm comprises a palm shell and at least one finger assembly. A mounting groove is formed in the palm shell, the mounting groove is provided with a notch communicated with the outside, and the finger assembly is detachably connected into the mounting groove through the notch; the finger assembly comprises a base and a finger shell installed on the base. A limiting part is formed in the mounting groove in the insertion direction of the finger assembly, and a stopping part which can abut against the limiting part is arranged on the base; according to the mechanical palm, the finger assemblies are inserted into the installation grooves through the notches, assembly between the finger assemblies and the palm shell is achieved, the limiting parts guarantee that the finger assemblies are accurately in place in the insertion direction, the assembling efficiency can be improved, the problems of improper installation, position deviation and the like are solved, and the accuracy and stability of the overall structure of the mechanical palm are guaranteed; the limiting part can also limit excessive movement or shaking of the finger assembly in the using process, and the relative position between the finger assembly and the palm shell is kept stable.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mechanical hand, especially relates to a mechanical hand palm, mechanical hand and robot. BACKGROUND

[0002] The mechanical hand is a kind of automatic operation device that can imitate the function of some actions of human fingers and arms, to grab, carry object or operate tool according to fixed program, in recent years, with the progress of science and technology and the continuous expansion of the scale of automatic production, the mechanical hand is widely applied in many fields such as industrial manufacturing, medical health;In order to imitate human hand, competent as many application scenarios as possible, each finger of the mechanical hand is usually independently driven and each finger joint has the ability of multiple posture transformation;The connection between the mechanical finger and the palm of the mechanical hand in the prior art is often complex in structure, and the connection structure of the finger and the palm is not stable enough due to machining error or assembly error, and problems such as looseness and displacement occur during use, which affects the operation accuracy, not only reduces the work efficiency, but also increases the maintenance cost;Therefore, how to improve the reliability of the assembly between the mechanical hand palm and the mechanical finger is a problem to be solved by the technical personnel in the field at present. CONTENT OF UTILITY MODEL

[0003] The utility model provides a kind of mechanical hand palm, mechanical hand and robot, to solve the problem of low reliability of the assembly structure between the palm of the palm of the existing mechanical hand and finger.

[0004] To achieve the above object, the utility model provides a kind of mechanical hand palm, including hand palm shell and at least one finger assembly;

[0005] The installation groove is provided in the hand palm shell, the installation groove has the slot opening communicated with outside, and the finger assembly is detachably connected in the installation groove via the slot opening;

[0006] The finger assembly includes base and finger shell mounted on the base;

[0007] The installation groove forms a limiting portion in the insertion direction of the finger assembly, and the base is provided with a stop portion that can abut against the limiting portion.

[0008] In some embodiments, the limiting portion includes a first limiting portion provided close to one end of the slot opening, and the base is provided with a first stop portion matched with the first limiting portion;When assembled in place, the first stop portion is located outside the installation groove.

[0009] In some embodiments, the limiting portion further includes a second limiting portion provided away from one end of the slot opening, and the base is provided with a second stop portion matched with the second limiting portion;When assembled in place, the second stop portion is located in the installation groove.

[0010] In some embodiments, the first limiting part and the second limiting part are arranged in sequence along the insertion direction of the finger assembly, and the cross section of the first limiting part and the second limiting part along the insertion direction of the finger assembly is in a stepped shape.

[0011] In some embodiments, the mechanical palm further comprises a fastener for fixing the base in the mounting groove, the base is provided with a mounting portion matched with the mounting groove, and the mounting groove is further provided with a mounting hole in communication with the outside, the fastener passes through the mounting hole and penetrates through the mounting portion.

[0012] In some embodiments, the side of the mounting groove close to the slot is a U-shaped groove, and two tightening end faces are respectively formed at the opposite ends of the slot for limiting the horizontal movement range of the finger assembly.

[0013] In some embodiments, the palm shell comprises a palm middle frame, and an upper cover plate and a lower cover plate respectively covering the opposite ends of the palm middle frame, a receiving cavity is formed between the upper cover plate and the lower cover plate, and the base is at least partially located in the receiving cavity; a support strip is arranged on the side of the upper cover plate facing the receiving cavity and abutting against the outer side wall of the base.

[0014] In some embodiments, the palm middle frame is provided with a plurality of avoiding holes corresponding to the base, the avoiding holes are in one-to-one correspondence with the finger assemblies, and a partition plate is arranged between two adjacent avoiding holes and detachably connected with the upper cover plate through a clamping assembly.

[0015] Further, the utility model discloses a mechanical hand, including mechanical hand body and setting on the mechanical hand body mechanical palm, the mechanical palm is above-mentioned mechanical palm.

[0016] Further, the utility model discloses a robot, including robot body and setting on the robot body mechanical hand, and the mechanical hand is above-mentioned mechanical hand.

[0017] The beneficial effects of the technical scheme of the utility model lie in that in the utility model, the base of the finger assembly is inserted into the installation groove through the slot, the assembly between the finger assembly and the palm shell is realized, the limiting part can ensure the finger assembly to be accurately in place in the insertion direction, the assembly efficiency is improved, the position deviation and other problems caused by improper installation are reduced, the accuracy and stability of the overall structure of the mechanical palm are ensured, the limiting part can also limit the excessive movement or shaking of the finger assembly during use, especially when external force is applied, the relative position between the finger assembly and the palm shell can be kept stable, in addition, the finger assembly is designed as an independent module and is detachably connected with the palm shell, which is beneficial to production and manufacturing, is convenient for later improvement and adjustment, and improves the universality and adaptability of the mechanical palm. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an overall structure schematic view of the mechanical palm of the utility model;

[0019] Figure 2 It is an explosion structure schematic view of the mechanical palm of the utility model;

[0020] Figure 3 It is a palm middle frame and finger assembly connection section schematic view of the mechanical palm of the utility model;

[0021] Figure 4 It is a palm middle frame structure schematic view of the mechanical palm of the utility model;

[0022] Figure 5 It is a finger assembly structure schematic view of the mechanical palm of the utility model;

[0023] Figure 6 It is a base structure schematic view of the mechanical palm of the utility model;

[0024] Figure 7 It is an upper cover plate structure schematic view of the mechanical palm of the utility model;

[0025] In the drawing: 100, mechanical palm; 1, palm shell; 11, palm middle frame; 111, installation groove; 1111, slot; 1112, tightening end face; 1113, first limiting part; 1114, second limiting part; 1115, installation hole; 112, partition plate; 1121, protruding block; 113, avoiding hole; 12, upper cover plate; 121, support strip; 122, hook claw; 13, lower cover plate; 2, finger assembly; 21, base; 211, first stop part; 212, second stop part; 213, installation part; 22, finger shell; 23, driver; 3, thumb module; 31, installation plate; 32, metacarpal fold sleeve; 4, fastener. DETAILED DESCRIPTION

[0026] The scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0027] It should be noted that all directional indications, such as upper, lower, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0028] It should also be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can have a middle element.

[0029] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0030] The present embodiment proposes a mechanical palm 100, referring to Figures 1 to 7 , comprising a palm shell 1 and at least one finger assembly 2;

[0031] The palm shell 1 is provided with a mounting groove 111, and the mounting groove 111 has a slot opening 1111 in communication with the outside, and the finger assembly 2 is detachably connected in the mounting groove 111 through the slot opening 1111;

[0032] The finger assembly 2 comprises a base 21 and a finger shell 22 mounted on the base 21;

[0033] The mounting groove 111 forms a limiting portion in the insertion direction of the finger assembly 2, and the base 21 is provided with a stop portion which can abut against the limiting portion.

[0034] In this embodiment, the finger shell 22 comprises a plurality of movable knuckles, and the base 21 is provided with a driver 23 for driving the knuckles to rotate, which can be in various forms, such as a small motor, a pneumatic or hydraulic device; these different types of driving components can be selected according to the specific application scenario to meet the running requirements of the mechanical palm 100 under various working conditions.

[0035] Reference Figure 1 In this embodiment, the finger assembly 2 is provided with four, including the index finger module, middle finger module, ring finger module and little finger module arranged in sequence; the finger assembly 2 is designed as independent modules and connected with the palm shell 1 in a detachable manner, which is beneficial to production and manufacturing, and also convenient for later improvement and adjustment, and the finger shell 22 can be flexibly configured according to different application scenarios; for example, in some tasks that require fine operation, the finger assembly 2 with higher precision sensors can be replaced; in the occasion that requires larger gripping force, the power type finger assembly 2 can be replaced, which improves the versatility and adaptability of the mechanical palm 100; in addition, the palm shell 1 is also provided with a thumb module 3, and the installation manner of the thumb module 3 is different from that of the finger shell 22, that is, the thumb module 3 is directly fixed on the palm shell 1 through the mounting plate 31; the thumb plays a key role in balancing and auxiliary gripping in human hand gripping, and through separate fixing, force can be applied from one side, which can be more flexible in cooperation with other fingers, and this structure can better simulate the gripping action of human hand; the thumb module 3 is also provided with a volar crease sleeve 32, which has a certain flexibility and elasticity, which acts as a protective barrier to protect the internal parts of the thumb module 3, and can naturally stretch and contract with the movement of the thumb module 3, without hindering the action of the thumb module 3; in addition, the volar crease sleeve 32 also makes the thumb module 3 more similar to the volar crease part of the real human hand in appearance, greatly enhancing the realistic degree of the overall appearance of the mechanical palm 100.

[0036] The slot opening 1111 of the mounting groove 111 is located at the edge of the palm shell 1, so that the finger assembly 2 has enough operation space during installation and disassembly; the mounting groove 111 forms a limiting part in the insertion direction of the finger assembly 2, and the finger shell 22 is provided with a stop part, which can be tightly abutted when assembled, ensuring that the finger assembly 2 is accurately installed to the predetermined position, ensuring the assembly accuracy of the mechanical palm 100, and also significantly improving the assembly speed, production quality and efficiency; for example, in the batch production process of the mechanical palm 100, this precise positioning ensures the consistency of the installation position of each finger assembly 2, thereby ensuring the stable overall performance of the mechanical palm 100; when the mechanical palm 100 performs actions such as grabbing and carrying, the finger assembly 2 will be subjected to various forces, and through the abutment of the limiting part and the stop part, the displacement of the finger assembly 2 during work can be effectively prevented.

[0037] Further, the limiting portion includes a first limiting portion 1113 arranged close to one end of the slot 1111, and the base 21 is provided with a first stop portion 211 matched with the first limiting portion 1113; when assembled in place, the first stop portion 211 is located outside the mounting groove 111.

[0038] When assembled in place, the first stop portion 211 is located outside the mounting groove 111, which is convenient for the operator to intuitively judge whether the finger assembly 2 is installed in place. This visual assembly design facilitates timely discovery and correction of assembly errors, which helps to improve assembly efficiency. In addition, when the finger assembly 2 is inserted into the mounting groove 111, the cooperation between the stop portion and the limiting portion in the mounting groove 111 can make the finger assembly 2 better withstand external forces; for example, the base 21 serves as a support structure for the finger shell 22 and a mounting structure for the driver 23. When the finger assembly 2 is subjected to external forces, the base 21, as a relatively concentrated structure, can effectively collect forces from various parts of the finger assembly 2, and then transmit the forces to the palm shell 1 through the abutting stop portion. The palm shell 1 has a more solid structure and a larger support area than the finger assembly 2, which can disperse the forces and help improve the load-bearing capacity of the finger assembly 2, preventing local over-deformation of the finger assembly 2.

[0039] Further, the limiting portion further includes a second limiting portion 1114 arranged away from one end of the slot 1111, and the base 21 is provided with a second stop portion 212 matched with the second limiting portion 1114; when assembled in place, the second stop portion 212 is located inside the mounting groove 111.

[0040] The stop portion includes the first limiting portion 1113 and the second limiting portion 1114, and the cooperation of the first limiting portion 1113 and the second limiting portion 1114 can achieve double precise positioning of the finger assembly 2 in the insertion direction; the first limiting portion 1113 is located close to one end of the slot 1111, and the first stop portion 211 matched therewith is located outside the mounting groove 111, mainly to facilitate the operator to visually confirm whether the insertion position of the finger assembly 2 is correct; while the second limiting portion 1114 is located away from one end of the slot 1111, and the second stop portion 212 matched therewith is located inside the mounting groove 111, for determining the final position of the finger assembly 2 inserted into the mounting groove 111, preventing the finger assembly 2 from being excessively deep into the mounting groove 111; further ensuring that the finger assembly 2 can be precisely positioned during installation, improving the assembly precision.

[0041] Further, the first limiting portion 1113 and the second limiting portion 1114 are arranged in sequence along the insertion direction of the finger assembly 2, and the cross section of the first limiting portion 1113 and the second limiting portion 1114 along the insertion direction of the finger assembly 2 is in a stepped shape.

[0042] The first limiting part 1113 and the second limiting part 1114 are stepped in the cross section along the insertion direction of the finger assembly 2, and the first stop part 211 and the second stop part 212 are also stepped in the cross section along the insertion direction. The stepped first stop part 211 and the second stop part 212 are arranged in a high-low stepped manner, so that the first stop part 211 is blocked outside the mounting groove 111 by the palm shell 1. In addition, the stepped first limiting part 1113 and the second limiting part 1114 can gradually buffer the force during transmission when the finger assembly 2 is subjected to an external force. This segmented buffering method can effectively reduce the damage of impact force to the finger assembly 2 and the palm shell 1, and prolong the service life of the mechanical palm 100.

[0043] Further, the mechanical palm 100 further comprises a fastener 4 for fixing the base 21 in the mounting groove 111. The base 21 is provided with a mounting part 213 matched with the mounting groove 111. The mounting groove 111 is provided with a mounting hole 1115 communicating with the outside. The fastener 4 passes through the mounting hole 1115 and penetrates the mounting part 213.

[0044] In the embodiment, the mounting part 213 mainly plays a role of positioning and limiting displacement of the finger assembly 2 matched with the mounting groove 111. The fastener 4 provides a direct fixing force to firmly fix the finger assembly 2 in the mounting groove 111, forming a complementary fixing mechanism, so that the finger assembly 2 can remain stable when subjected to forces in various directions.

[0045] In some embodiments, the fastener 4 adopts a screw. The assembly process of using a screw as the fastener 4 is relatively simple and intuitive. When installing the finger assembly 2, after the second stop part 212 is matched with the second limiting part 1114, the screw is screwed into the mounting hole 1115 to complete the fixing. Using a standard screw can also reduce production costs, facilitate the replacement of different types of screws or finger assemblies 2, and improve the compatibility of the mechanical palm 100.

[0046] Further, the side of the mounting groove 111 close to the slot opening 1111 is a U-shaped groove. Opposite ends of the slot opening 1111 are respectively formed with two tightening end faces 1112 for limiting the horizontal movement range of the finger assembly 2.

[0047] The mounting groove 111 is a U-shaped groove near one side of the slot 1111, and the tightening end face 1112 on the U-shaped groove can effectively limit the range of motion of the finger assembly 2 in five degrees of freedom; when the finger assembly 2 is subjected to horizontal external force, the tightening end face 1112 of the U-shaped groove can also uniformly disperse the force to the palm shell 1; for example, during the gripping of objects by the mechanical palm 100, the object may generate horizontal friction or impact force on the finger assembly 2, which is transmitted to the palm shell 1 through the tightening end face 1112. Due to the joint action of the tightening end faces 1112 at the two ends of the U-shaped groove, the force can be effectively dispersed, avoiding excessive local stress that may damage the palm shell 1 or the finger assembly 2.

[0048] In addition, the U-shaped groove also provides good guidance for the installation of the finger assembly 2; when installing the finger assembly 2, the operator can easily match the base 21 on the finger assembly 2 according to the shape of the U-shaped groove and complete the insertion installation by aligning the U-shaped groove, reducing the groping and adjustment time during installation; the shape design of the U-shaped groove also allows the operator to observe the insertion of the finger assembly 2 from both sides of the slot 1111 during installation. This visibility helps to discover problems in the installation process in a timely manner, such as whether the finger assembly 2 is installed horizontally, whether it interferes with other structures in the slot, etc., improving the convenience of maintenance and inspection.

[0049] Further, the palm shell 1 includes a palm middle frame 11 and an upper cover plate 12 and a lower cover plate 13 respectively covering the opposite ends of the palm middle frame 11; the upper cover plate 12 and the lower cover plate 13 form a containing cavity therebetween, and the base 21 is at least partially located in the containing cavity; the side of the upper cover plate 12 facing the containing cavity is provided with a support strip 121 abutting against the outer side wall of the base 21.

[0050] Reference Figure 2 In this embodiment, the upper cover plate 12 corresponds to the back of the palm of the human hand, the lower cover plate 13 corresponds to the palm of the human hand, and the palm middle frame 11 is used to realize the connection and cooperation between the upper cover plate 12 and the lower cover plate 13, together simulating the shape of the palm of the human hand, so that the mechanical palm 100 is more similar to the human hand in appearance and is more natural and flexible in use in various scenarios; for example, in the medical field, the mechanical palm 100 can better adapt to various daily and specific operation tasks.

[0051] The accommodating cavity is formed between the upper cover plate 12 and the lower cover plate 13, and provides a relatively closed mounting space for the base 21 and other components of the mechanical palm 100, blocks adverse interference from the outside, and protects the internal precision components from being damaged during the operation of the mechanical palm 100; the space of the accommodating cavity also provides convenience for the reasonable layout of the internal components of the mechanical palm 100. For example, in some embodiments, the driver 23 arranged on the base 21 is located in the accommodating cavity, and the end of the driver 23 away from the base 21, i.e., the tail of the driver 23, is arranged obliquely towards the lower cover plate 13, so that most of the volume of the driver 23 is concentrated on the side close to the lower cover plate 13, i.e., the side corresponding to the palm center of the human hand, which can effectively avoid the interference of the tail of the driver 23 with other structures, and helps to reduce the overall thickness of the mechanical palm 100. In many application scenarios, such as service robots and medical rehabilitation equipment, there are relatively strict requirements on the appearance size of the mechanical palm 100. The thinner mechanical palm 100 is more beautiful in appearance, and is also more in line with the ergonomics principle, which can bring better visual experience and use feeling to the user.

[0052] The side of the upper cover plate 12 facing the accommodating cavity is provided with a support strip 121 abutting against the outer side wall of the base 21, which provides accurate positioning for the base 21. In addition, the support strip 121 is tightly abutted against the base 21 to prevent the base 21 from being displaced or shaken under the action of external force, so as to ensure that the finger assembly 2 always remains in the correct mounting position, thereby ensuring the reliability and accuracy of the operation of the mechanical palm 100. In some embodiments, the driver 23 adopts a small motor, and the support strip 121 is provided with an arc-shaped notch which can be clamped on the side wall of the motor, thereby greatly enhancing the stability of the driver 23 and preventing it from colliding with or interfering with the surrounding components.

[0053] Further, the palm middle frame 11 is provided with a plurality of avoiding holes 113 corresponding to the base 21; the avoiding holes 113 correspond one-to-one to the finger assemblies 2; and a partition plate 112 is arranged between two adjacent avoiding holes 113 and detachably connected to the upper cover plate 12 through a clamping assembly.

[0054] The palm middle frame 11 has a hollow frame structure, and the palm middle frame 11 is provided with avoiding holes 113 corresponding to the base 21 to provide a mounting space for the base 21; the cavities between the upper cover plate 12 and the palm middle frame 11 and between the palm middle frame 11 and the lower cover plate 13 are connected to each other through the avoiding holes 113 to form a complete accommodating cavity; in some embodiments, the driver 23 arranged on the base 21 can be arranged obliquely through the avoiding holes 113, which helps to reduce the overall thickness of the mechanical palm 100.

[0055] The partition plate 112 arranged between two adjacent escape holes 113 can enhance the overall structural strength of the palm middle frame 11 and avoid stress concentration around the escape hole 113. The palm middle frame 11 is detachably connected with the upper cover plate 12 through the clamping assembly on the partition plate 112, which provides great convenience for the assembly process of the mechanical palm 100; in some embodiments, the partition plate 112 is transversely extended and provided with a protrusion 1121, the upper cover plate 12 is downwardly extended and provided with a hook claw 122 matched with the protrusion 1121, the clamping assembly includes the elastically clamped and matched hook claw 122 and the protrusion 1121, and the clamping assembly is provided with a plurality of clamping assemblies; in this way, the disassembly between the palm middle frame 11 and the upper cover plate 12 becomes simple and fast, and the elastically clamped structure of the hook claw 122 and the protrusion 1121 can effectively resist the external force borne by the palm middle frame 11, so as to prevent the upper cover plate 12 from being loose or separated from the palm middle frame 11.

[0056] The above only describes some or preferred embodiments of the present application, neither the text nor the drawings can limit the scope of protection of the present application, any equivalent structural transformation made by using the content of the present application and the drawings or directly / indirectly applied in other related technical fields is included in the scope of protection of the present application.

Claims

1. A mechanical hand palm characterized in that, The mechanical hand comprises a palm shell and at least one finger assembly; The palm shell is provided with a mounting groove having a groove opening in communication with the outside, and the finger assembly is detachably connected to the mounting groove via the groove opening; The finger assembly comprises a base and a finger shell mounted on the base; The mounting groove forms a limiting portion in the insertion direction of the finger assembly, and the base is provided with a stop portion abutting against the limiting portion.

2. The mechanical palm according to claim 1, wherein, The limiting portion comprises a first limiting portion provided near one end of the groove opening, and the base is provided with a first stop portion matched with the first limiting portion; when assembled in place, the first stop portion is located outside the mounting groove.

3. The mechanical palm of claim 2, wherein, The limiting portion further comprises a second limiting portion provided away from one end of the groove opening, and the base is provided with a second stop portion matched with the second limiting portion; when assembled in place, the second stop portion is located inside the mounting groove.

4. The mechanical palm of claim 3, wherein, The first limiting portion and the second limiting portion are arranged in sequence along the insertion direction of the finger assembly, and the cross section of the first limiting portion and the second limiting portion along the insertion direction of the finger assembly is in a stepped shape.

5. The mechanical palm of claim 4, wherein, The mechanical hand further comprises a fastener for fixing the base in the mounting groove, and the base is provided with a mounting portion matched with the mounting groove, and the mounting groove is further provided with a mounting hole in communication with the outside, and the fastener passes through the mounting hole and penetrates through the mounting portion.

6. The mechanical palm of claim 1, wherein, The side of the mounting groove near the groove opening is a U-shaped groove, and two opposite ends of the groove opening are respectively formed with two tightening end faces for limiting the horizontal movement range of the finger assembly.

7. The mechanical palm of claim 1, wherein, The palm shell comprises a palm middle frame, an upper cover plate and a lower cover plate respectively covering the opposite ends of the palm middle frame; the upper cover plate and the lower cover plate form a receiving cavity therebetween, and the base is at least partially located in the receiving cavity; the side of the upper cover plate facing the receiving cavity is provided with a support strip abutting against the outer side wall of the base.

8. The mechanical palm of claim 7, wherein, The palm middle frame is provided with a plurality of avoiding holes corresponding to the base, and the avoiding holes correspond one-to-one to the finger assemblies; a partition plate is arranged between two adjacent avoiding holes, and the partition plate is detachably connected to the upper cover plate through a clamping assembly.

9. A robot comprising a robot body and a robot hand provided on the robot body, characterized by The mechanical hand is the mechanical hand as claimed in any one of claims 1 to 8.

10. A robot, comprising a robot body and a manipulator disposed on the robot body, characterized in that, The mechanical hand is the mechanical hand as claimed in claim 9.

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