Bionic manipulator and finger structure thereof

Abstract

The utility model discloses a bionic manipulator and a finger structure thereof. The finger structure comprises a base body, a first knuckle, a second knuckle, a driving mechanism, a transmission mechanism, a first connecting mechanism, a reset mechanism and a control circuit board, the second knuckles are rotatably arranged on the base body, the first knuckles are rotatably arranged on the second knuckles, and the driving mechanism is arranged based on the base body; the driving mechanism is connected with the second knuckles through the transmission mechanism and can drive the second knuckles to act; the base body is connected with the first knuckles through a first connecting mechanism and a reset mechanism. The first knuckle is provided with a first knuckle body and a flexible material layer, and a pressure sensing element is arranged between the flexible material layer and the first knuckle body; a pressure sensing circuit is arranged in the first knuckle body, and the pressure sensing element is connected with the pressure sensing circuit; the control circuit board is connected with the pressure sensing circuit through an FPC wire. According to the bionic manipulator and the finger structure thereof, pressure data on the fingers can be sensed, and the service life of a product can be prolonged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to bionic hand technical field relates to a kind of bionic manipulator, and especially a kind of finger structure of bionic manipulator. BACKGROUND

[0002] As the main means to solve the life self-care of patient after amputation nowadays, bionic hand is still a relatively new popular product. The design concept of existing bionic hand product is rich, and flexible mechanism and rigid mechanism can be seen everywhere in the market, with obvious advantages and disadvantages. The service life of flexible mechanism is limited, and the wear and tear of driving rope is the primary problem in the development and market opening of this type of product.

[0003] Existing mechanical bionic hand usually cannot know the pressure received by mechanical finger, and can only set a few fixed bending actions, which cannot meet the needs of users nowadays.

[0004] Some products are provided with pressure sensors at the end of finger. The existing scheme is plug and socket structure, and the plug is easy to loosen when wrist is bent, resulting in signal interruption. In addition, the communication line is soft silicone line, and when the finger is bent, the communication line will be bent freely. The communication line has the risk of being cut off.

[0005] Therefore, it is urgent to design a new finger structure of bionic manipulator to overcome at least part of the above-mentioned defects of existing finger structure. CONTENT OF UTILITY MODEL

[0006] The utility model provides a kind of bionic manipulator and its finger structure, can induct the pressure data on finger, and product life can be improved.

[0007] To solve the above technical problems, according to one aspect of the utility model, the following technical scheme is adopted:

[0008] A finger structure of bionic manipulator, the finger structure includes: base body, first phalange, second phalange, driving mechanism, transmission mechanism, first connecting mechanism, reset mechanism and control circuit board;

[0009] The second phalange is rotatably arranged on the base body, and the first phalange is rotatably arranged on the second phalange. The driving mechanism is arranged based on the base body.

[0010] The driving mechanism is connected with the second phalange through the transmission mechanism, and can drive the second phalange to act. The base body is connected with the first phalange through the first connecting mechanism and the reset mechanism respectively.

[0011] The first knuckle is provided with a pressure sensing element; the first knuckle body is provided with a pressure sensing circuit, and the pressure sensing element is connected to the pressure sensing circuit; and the control circuit board is connected to the pressure sensing circuit through an FPC line.

[0012] As an embodiment of the utility model, the first knuckle is rotatably arranged with the second knuckle through a first rotating shaft; the first connecting mechanism comprises a first connecting rod, and the first knuckle is rotatably arranged with the first connecting rod through a second rotating shaft;

[0013] The base body comprises a base body, a finger connecting mechanism, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft;

[0014] The finger connecting mechanism is connected with the second knuckle through the third rotating shaft, connected with the base body through the fourth rotating shaft, and connected with the reset mechanism through the fifth rotating shaft;

[0015] The FPC line passes between the third rotating shaft and the fourth rotating shaft, and is located outside the first rotating shaft, the fifth rotating shaft and the reset mechanism, so that the finger structure can be connected with the pressure sensing circuit and the control circuit board in different states.

[0016] As an embodiment of the utility model, the reset mechanism comprises an elastic mechanism, a first guide mechanism and a second guide mechanism; a first end of the first guide mechanism is rotatably arranged on the first knuckle, and a second end of the second guide mechanism is rotatably arranged on the base body;

[0017] A first end of the elastic mechanism is nested in the first guide mechanism, and a second end of the elastic mechanism is nested in the second guide mechanism;

[0018] The first guide mechanism is movably nested in the second guide mechanism, or the second guide mechanism is movably nested in the first guide mechanism.

[0019] As an embodiment of the utility model, the transmission mechanism comprises a push rod and a second connecting mechanism; the driving mechanism is connected with the push rod and can drive the push rod to perform a set action; the push rod is connected with the second knuckle through the second connecting mechanism and can drive the second knuckle to perform a set action.

[0020] As an embodiment of the utility model, the second knuckle is provided with an arc-shaped track, the second connecting mechanism is provided with a sliding mechanism, and the sliding mechanism is arranged based on the arc-shaped track and can slide in the arc-shaped track;

[0021] The second connecting mechanism comprises a second connecting rod and a third connecting rod; the first end of the second connecting rod is provided with the sliding mechanism; the second end of the second connecting rod is connected to the first end of the third connecting rod, and the second end of the third connecting rod is connected to the first end of the push rod, and the second end of the push rod is connected to the driving mechanism.

[0022] As an embodiment of the utility model, the base body comprises a base body proper and a finger connecting mechanism, the finger connecting mechanism is provided with a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft.

[0023] The finger connecting mechanism is connected to the second knuckle through the third rotating shaft, the finger connecting mechanism is connected to the base body proper through the fourth rotating shaft, and the finger connecting mechanism is connected to the second end of the second guide mechanism through the fifth rotating shaft.

[0024] As an embodiment of the utility model, the driving mechanism comprises a driving motor and a screw rod, the driving motor is connected to the screw rod and can drive the screw rod to move linearly, and the screw rod is fixedly connected to the push rod.

[0025] As an embodiment of the utility model, the elastic mechanism is a compression spring, and the control circuit board is arranged in the base body; the first knuckle is provided with a first knuckle proper and a flexible material layer, and the pressure sensing element is arranged between the flexible material layer and the first knuckle proper.

[0026] According to another aspect of the utility model, the following technical scheme is adopted: a bionic mechanical hand, which comprises the finger structure of the bionic mechanical hand.

[0027] As an embodiment of the utility model, the bionic mechanical hand is provided with a hand proper, a second pressure sensing element is arranged at the palm of the hand proper, a second pressure sensing circuit is arranged in the hand proper, and the second pressure sensing element is connected to the second pressure sensing circuit.

[0028] The bionic mechanical hand further comprises a main control circuit board, and the control circuit boards of the finger structures are connected to the main control circuit board.

[0029] The bionic mechanical hand and the finger structure thereof have the advantages that the bionic mechanical hand and the finger structure thereof can sense the pressure data on the fingers and improve the service life of the product; the sensor and the connecting wire are integrated, so that the risk of loosening is eliminated; the sensing element and the circuit board are connected by FPC wire, so that in the movement process, the communication wire only bends in the bending direction of the fingers, and there is no risk of contacting the moving structural member, thereby improving the service life of the product. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1It is a structure schematic view of the finger structure in an embodiment of the utility model.

[0031] Figure 2 It is a structure schematic view of the finger structure in an embodiment of the utility model (clenched state).

[0032] Figure 3 It is a structure schematic view of the bionic manipulator in an embodiment of the utility model.

[0033] Figure 4 It is a structure schematic view of the bionic manipulator in an embodiment of the utility model (clenched state). DETAILED DESCRIPTION

[0034] The preferred embodiments of the utility model are described in detail below in combination with the drawings.

[0035] In order to further understand the utility model, the preferred embodiments of the utility model are described below in combination with examples, but it should be understood that these descriptions are only for further illustrating the features and advantages of the utility model, and are not the limitation of the utility model claims.

[0036] The description of this part is only for several typical embodiments, and the utility model is not limited to the range described in the embodiments. The mutual replacement of the same or similar prior art means and some technical features in the embodiments is also within the description and protection range of the utility model.

[0037] The "connection" in the specification includes direct connection and indirect connection.

[0038] The utility model discloses a kind of finger structure of bionic manipulator, Figure 1 、 Figure 2 It is a structure schematic view of the finger structure in an embodiment of the utility model;Please refer to Figure 1 、 Figure 2 The finger structure includes: base body 1, first phalange 2, second phalange 3, first connecting mechanism 4, reset mechanism 5, driving mechanism 6, transmission mechanism 7 and control circuit board 8.

[0039] The second phalange 3 is rotatably arranged on the base body 1, and the first phalange 2 is rotatably arranged on the second phalange 3. The driving mechanism 6 is arranged based on the base body 1.

[0040] The driving mechanism 6 is connected to the second phalange 3 through the transmission mechanism 7, and can drive the second phalange 3 to act. The base body 1 is connected to the first phalange 2 through the first connecting mechanism 4 and the reset mechanism 5 respectively.

[0041] The first knuckle 2 is provided with a pressure sensing element 9; the first knuckle body 21 is internally provided with a pressure sensing circuit 10, and the pressure sensing element 9 is connected to the pressure sensing circuit 10. The control circuit board 8 is arranged in the base body 1, and the control circuit board 8 is connected to the pressure sensing circuit 10 through an FPC line 16. In an embodiment, the first knuckle 2 is provided with a first knuckle body 21 and a flexible material layer 22, and the pressure sensing element 9 is arranged between the flexible material layer 22 and the first knuckle body 21; the flexible material layer 22 can be made of silica gel material, and other materials can also be selected.

[0042] In an embodiment of the utility model, the first knuckle 2 is rotatably arranged with the second knuckle 3 through a first rotating shaft 11; the first connecting mechanism 4 includes a first connecting rod, and the first knuckle 2 is rotatably arranged with the first connecting rod through a second rotating shaft 12.

[0043] The base body 1 includes a base body 17 and a finger connecting mechanism 18, and the finger connecting mechanism 18 is provided with a third rotating shaft 13, a fourth rotating shaft 14 and a fifth rotating shaft 15. The finger connecting mechanism 18 is connected with the second knuckle 3 through the third rotating shaft 13, the finger connecting mechanism 18 is connected with the base body 17 through the fourth rotating shaft 14, and the finger connecting mechanism 18 is connected with the reset mechanism 5 through the fifth rotating shaft 15.

[0044] The FPC line 16 passes between the third rotating shaft 13 and the fourth rotating shaft 14 and is located outside the first rotating shaft 11, the fifth rotating shaft 15 and the reset mechanism 5, so that the finger structure can be connected with the pressure sensing circuit 10 and the control circuit board 8 in different states. The outside refers to the side away from the finger surface, the side close to the finger back or the side away from the palm in the bending state of the finger.

[0045] The FPC line 16 can include a first FPC line unit 161, a second FPC unit 162 and a third FPC unit 163; the first knuckle 2 is provided with an FPC line containing space, and the first FPC line unit 161 can be fixedly arranged (such as pasted) at a set position of the FPC line containing space. The first knuckle 2 is provided with an arc-shaped end portion 23, and the second end of the first FPC line unit 161 passes between the arc-shaped end portion 23 and the first rotating shaft 11 and is connected with the second FPC unit 162. The second FPC unit 162 is movably arranged and can change accordingly following the bending and straightening of the finger structure. The third FPC unit 163 can be fixedly arranged in the base body 1.

[0046] In an embodiment of the utility model, the reset mechanism 5 includes elastic mechanism 51, first guide mechanism 52 and second guide mechanism 53, the first end of first guide mechanism 52 is rotatably arranged at the first knuckle 2, and the second end of second guide mechanism 53 is rotatably arranged at the base body 1.

[0047] The first end of elastic mechanism 51 is nested in first guide mechanism 52, and the second end of elastic mechanism 51 is nested in second guide mechanism 53, first guide mechanism 52 is movably nested in second guide mechanism 53, or second guide mechanism 53 is movably nested in first guide mechanism 52.

[0048] The transmission mechanism 7 includes a push rod 71 and a second connecting mechanism, and the drive mechanism 6 is connected with the push rod 71 and can drive the push rod 71 to perform a set action.

[0049] The push rod 71 is connected with the second knuckle 3 through the second connecting mechanism and can drive the second knuckle 3 to perform a set action.

[0050] The second connecting mechanism includes a second connecting rod 72 and a third connecting rod 73, the first end of the second connecting rod 72 is provided with the sliding mechanism 74, the second end of the second connecting rod 72 is connected with the first end of the third connecting rod 73, the second end of the third connecting rod 73 is connected with the first end of the push rod 71, and the second end of the push rod 7 is connected with the drive mechanism 6.

[0051] The drive mechanism 6 includes a drive motor 61, and the transmission mechanism can further include a lead screw 75, the drive motor 61 is connected with the lead screw 75 and can drive the lead screw 75 to move linearly, and the lead screw 75 is fixedly connected with the push rod 71.

[0052] The lead screw can be a ball screw, the sliding block is arranged in the nut of the ball screw and can move along the lead screw with the nut, and the drive mechanism 6 can include a drive motor.

[0053] The utility model further discloses a bionic manipulator, Figure 3 、 Figure 4The utility model discloses a structure diagram of bionic manipulator, please refer to Figure 3 、 Figure 4 The bionic manipulator includes the finger structure of the above-mentioned bionic manipulator.

[0054] In an embodiment of the utility model, the bionic manipulator is equipped with hand body, and the palm of hand body is equipped with second pressure sensing element, and the inside of hand body is equipped with second pressure sensing circuit, and second pressure sensing element is connected second pressure sensing circuit.

[0055] In summary, the bionic manipulator and the finger structure thereof can sense the pressure data on the fingers and improve the product life. The sensor and the connecting wire are integrated, and there is no risk of loosening. The sensing element and the circuit board are connected by FPC wire, and the communication line only bends in the bending direction of the fingers during movement, and there is no risk of contacting the moving structure, thereby improving the product life.

[0056] The technical features of the above-described embodiments can be combined arbitrarily, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present disclosure.

[0057] The description and application of the utility model are illustrative, and the scope of the utility model is not limited in the above-described embodiments. The effects or advantages involved in the embodiments can be disturbed by various factors and can not be embodied in the embodiments. The description of the effects or advantages is not used to limit the embodiments. The variations and changes of the disclosed embodiments are possible, and the alternatives and equivalent components of the embodiments are known to those skilled in the art. It should be clear to those skilled in the art that the utility model can be realized in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential characteristics of the utility model. Other variations and changes of the disclosed embodiments can be made without departing from the scope and spirit of the utility model.

Claims

1. A finger structure of a bionic hand, characterized in that, The finger structure comprises a base, a first phalanx, a second phalanx, a driving mechanism, a transmission mechanism, a first connecting mechanism, a reset mechanism and a control circuit board; The second phalanx is rotatably arranged on the base, and the first phalanx is rotatably arranged on the second phalanx; the driving mechanism is arranged on the base; The driving mechanism is connected with the second phalanx through the transmission mechanism and can drive the second phalanx to move; the base is connected with the first phalanx through the first connecting mechanism and the reset mechanism respectively; The first phalanx is provided with a pressure sensing element; a pressure sensing circuit is arranged in the first phalanx body, and the pressure sensing element is connected with the pressure sensing circuit; the control circuit board is connected with the pressure sensing circuit through an FPC line.

2. The finger structure of the bionic robot hand according to claim 1, wherein: The first phalanx is rotatably arranged on the second phalanx through a first rotating shaft; the first connecting mechanism comprises a first connecting rod, and the first phalanx is rotatably arranged on the first connecting rod through a second rotating shaft; The base comprises a base body and a finger connecting mechanism, and the finger connecting mechanism is provided with a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft; The finger connecting mechanism is connected with the second phalanx through the third rotating shaft, connected with the base body through the fourth rotating shaft, and connected with the reset mechanism through the fifth rotating shaft; The FPC line passes through between the third rotating shaft and the fourth rotating shaft and is located outside the first rotating shaft, the fifth rotating shaft and the reset mechanism, so that the finger structure can be connected with the pressure sensing circuit and the control circuit board in different states.

3. The finger structure of the bionic robot hand according to claim 1, wherein: The reset mechanism comprises an elastic mechanism, a first guide mechanism and a second guide mechanism; a first end of the first guide mechanism is rotatably arranged on the first phalanx, and a second end of the second guide mechanism is rotatably arranged on the base; A first end of the elastic mechanism is nested in the first guide mechanism, and a second end of the elastic mechanism is nested in the second guide mechanism; The first guide mechanism is movably nested in the second guide mechanism, or the second guide mechanism is movably nested in the first guide mechanism.

4. The finger structure of the bionic robot hand according to claim 1, wherein: The transmission mechanism comprises a push rod and a second connecting mechanism; the driving mechanism is connected with the push rod and can drive the push rod to move; the push rod is connected with the second phalanx through the second connecting mechanism and can drive the second phalanx to move.

5. The finger structure of the bionic robot hand according to claim 4, wherein: The second phalanx is provided with an arc-shaped track, and the second connecting mechanism is provided with a sliding mechanism; the sliding mechanism is arranged on the arc-shaped track and can slide in the arc-shaped track. The second connecting mechanism comprises a second connecting rod and a third connecting rod; the first end of the second connecting rod is provided with the sliding mechanism; the second end of the second connecting rod is connected to the first end of the third connecting rod, the second end of the third connecting rod is connected to the first end of the push rod, and the second end of the push rod is connected to the driving mechanism. 6.The finger structure of the bionic robot hand according to claim 3, characterized in that: The base body comprises a base body proper and a finger connecting mechanism, the finger connecting mechanism is provided with a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft; The finger connecting mechanism is connected to the second phalange through the third rotating shaft, the finger connecting mechanism is connected to the base body proper through the fourth rotating shaft, and the finger connecting mechanism is connected to the second end of the second guide mechanism through the fifth rotating shaft. 7.The finger structure of the bionic robot hand according to claim 4, characterized in that: The driving mechanism comprises a driving motor and a screw rod, the driving motor is connected to the screw rod and can drive the screw rod to move linearly, and the screw rod is fixedly connected to the push rod. 8.The finger structure of the bionic robot hand according to claim 3, characterized in that: The elastic mechanism is a compression spring, and the control circuit board is arranged in the base body; The first phalange is provided with a first phalange proper and a flexible material layer, and the pressure sensing element is arranged between the flexible material layer and the first phalange proper.

9. A biomimetic robot hand characterized by: The bionic robot hand comprises the finger structure of the bionic robot hand according to any one of claims 1 to 8. 10.The bionic robot hand according to claim 9, characterized in that: The bionic robot hand is provided with a hand proper, the palm of the hand proper is provided with a second pressure sensing element, the hand proper is provided with a second pressure sensing circuit, and the second pressure sensing element is connected to the second pressure sensing circuit; The bionic robot hand further comprises a main control circuit board, and the control circuit board of each finger structure is connected to the main control circuit board.

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