Swivel device and bionic prosthesis

Abstract

The utility model discloses a kind of rotary devices and bionic artificial limb, rotary device includes: first rotator, second rotator and at least one sliding member, first rotator is opened with at least two clamping slots along its circumferential direction, second rotator is rotationally connected in first rotator, sliding member includes clamping block and at least one elastic part, one end of clamping block is connected in second rotator, the other end of clamping block has the limit state of inserting in clamping slot and the disengagement state of sliding disengagement clamping slot, clamping block is in limit state, for limiting the rotation of second rotator relative to first rotator, release limit in disengagement state, elastic part is connected in clamping block and second rotator, for providing the elastic force of reset after clamping block sliding relative to clamping slot.The utility model can effectively solve the problem that fixed part is tightened and loosened by repeated clockwise or counterclockwise rotation operation to limit or release the relative rotation of first base body and second base body, resulting in cumbersome operation steps.

Description

Technical Field

[0001] This utility model relates to the field of bionic hand technology, specifically to a rotating device and a bionic prosthesis. Background Technology

[0002] Bionic hands can serve people with upper limb disabilities or functional impairments, and can also be applied to robots. To facilitate the operation of bionic hand devices, the wrist has a rotation function.

[0003] For example, Chinese utility model patent with publication number CN111300477B, entitled "A Bionic Wrist, Bionic Hand, and Mechanical Arm," describes a bionic wrist comprising a first base, a second base, and at least one connecting component. The first base has a rotating portion, and the second base has a rotating cavity. The rotating portion is inserted into the rotating cavity. One of the outer circumferential surface of the rotating portion and the inner sidewall of the rotating cavity has a groove, and the other has at least one connecting hole, with the connecting hole positioned opposite the groove. The connecting component includes a sliding member and a fixing member. The sliding member is located within the connecting hole and can move along the connecting hole to abut against the groove. When the sliding member moves to abut against the groove, the bionic wrist moves along the extension direction of the groove, causing the rotating portion to rotate around the axis of the rotating cavity. This device provides a bionic wrist where, while fixing the bionic wrist, the first and second bases of the bionic wrist can rotate relative to each other.

[0004] However, in use, when the fixing part is rotated clockwise and the sliding part is pushed to press against the bottom of the slide groove, the first base and the second base cannot rotate relative to each other. When the fixing part is rotated counterclockwise to separate the fixing part from the sliding part, the sliding part exits the slide groove under the action of the elastic part or gravity, allowing the first base and the second base to rotate relative to each other. The operation steps are cumbersome. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a rotating device and a bionic prosthesis to solve the technical problem that the existing technology requires repeated clockwise or counterclockwise rotation to tighten and loosen the fixing parts in order to limit or release the relative rotation of the first base and the second base, which leads to cumbersome operation steps.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, this utility model provides a rotary device, comprising: The first rotating body has at least two slots along its circumference; The second rotating body is rotatably connected to the first rotating body; and At least one sliding member, the sliding member including a locking block and at least one elastic part, one end of the locking block being connected to the second rotating body, the other end of the locking block having a limiting state of being inserted into the locking slot and a disengaging state of sliding out of the locking slot, the locking block being used to restrict the rotation of the second rotating body relative to the first rotating body in the limiting state, and releasing the restriction in the disengaging state, the elastic part being connected to the locking block and the second rotating body, being used to provide the elastic force for the locking block to reset after sliding relative to the locking slot.

[0007] In some embodiments, the first rotating body includes a first rotating ring and a second rotating ring, the second rotating ring being coaxially arranged and connected to the first rotating ring, the outer diameter of the second rotating ring being smaller than the outer diameter of the first rotating ring, and the second rotating body being rotatably sleeved on the second rotating ring.

[0008] In some embodiments, the rotary device further includes a rotating ring, which is coaxially arranged with the second rotating ring and connected to the first rotating ring. The rotating ring has a plurality of slots along its circumference that can engage with the locking block.

[0009] In some embodiments, the second rotating body includes a third rotating ring, which is coaxially sleeved on the second rotating ring. The third rotating ring has at least one groove. The sliding member also includes a slider, which is slidably built into the groove. One end of the locking block is built into the groove and the other end is connected to the slider. One end of the elastic part is connected to the bottom inner wall of the groove and the other end is connected to the slider, for automatically resetting after pushing the slider to slide relative to the groove.

[0010] In some embodiments, the bottom inner wall of the slide is further provided with at least one groove, one end of the elastic part is built into the groove and connected to the bottom inner wall of the groove, and the other end of the elastic part is connected to the slider.

[0011] In some embodiments, the slider has a guide groove on the bottom inner wall of the slide groove, and the slider also includes at least one guide post, one end of which is connected to the bottom inner wall of the slide groove and the other end is slidably inserted into the guide groove.

[0012] In some embodiments, the slider is in the shape of an inverted "T" and has a first segment and a second segment. The cross-sectional area of ​​the second segment is larger than that of the first segment, and the second segment is disposed relative to the first segment near the bottom inner wall of the slide groove. The second rotating body also includes a rotating cover, which covers the third rotating ring and has a through groove relative to the slide groove. The cross-sectional area of ​​the through groove is larger than that of the first segment and smaller than that of the second segment.

[0013] In some embodiments, the rotary device further includes a bushing and a spacer. The bushing is connected to the rotary cover and partially extends to the first rotary ring. The bushing is rotatable relative to the first rotary ring. The spacer is disposed between the bushing and the first rotary ring and abuts against both the bushing and the first rotary ring.

[0014] In some embodiments, the rotary device further includes a damping assembly, which includes a damping ring and at least one elastic damping portion. The damping ring is coaxially arranged with the second rotary ring and is fixedly sleeved on the second rotary ring. The damping ring has a plurality of damping grooves along its circumferential direction. One end of the elastic damping portion is connected to the third rotary ring, and the other end is engaged with the damping groove.

[0015] Secondly, this utility model also provides a bionic prosthesis, including a bionic robotic hand and a rotary device as described in any one of the above, wherein the bionic robotic hand is connected to either the first rotary body or the second rotary body.

[0016] Compared with the prior art, the beneficial effects of the rotating device and bionic prosthesis provided by this utility model include: the second rotating body is rotatably connected to the first rotating body, and the first rotating body has at least two slots along its circumference; one end of the locking block is connected to the second rotating body and the other end is inserted into the slot, which is used to restrict the rotation of the second rotating body relative to the first rotating body, and the locking block can slide relative to the second rotating body to release the restriction; the elastic part is connected to the locking block and the second rotating body, which is used to drive the locking block to slide relative to the slot and then automatically reset. Compared to existing technologies, by setting at least one sliding member between the first and second rotating bodies, with one end of the locking block connected to the second rotating body and the other end inserted into the slot, the second rotating body cannot rotate relative to the first rotating body, thus being in a locked state. After the locking block slides relative to the second rotating body, it separates from the slot, allowing the second rotating body to rotate relative to the first rotating body, thus being in an unlocked state. The elastic restoring force generated by the elastic part allows the locking block separated from the slot to automatically reset, and the locking block re-engages with the slot to achieve locking. This eliminates the need for repeated rotation of the fixing member, making operation convenient and the structure simple. It solves the technical problem in existing technologies where repeated clockwise or counterclockwise rotation is required to tighten and loosen the fixing member to restrict or release the relative rotation of the first and second base bodies, resulting in cumbersome operation steps. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a rotary device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram from another perspective of a rotating device provided in one embodiment of the present invention; Figure 3 This is a schematic diagram showing the connection between the first rotating ring, the second rotating ring, the third rotating ring, the sliding member, and the damping assembly provided in an embodiment of this utility model; Figure 4 This is a schematic diagram from another perspective showing the connection between the first rotating ring, the second rotating ring, the third rotating ring, the sliding member, and the damping assembly provided in one embodiment of this utility model.

[0018] Explanation of reference numerals in the attached figures: First rotating body 100; slot 110; first rotating ring 120; second rotating ring 130; second rotating body 200; third rotating ring 210; rotating cover 220; sliding member 300; locking block 310; elastic part 320; slider 330; guide post 340; rotating ring 400; bushing 500; spacer 600; limiting pressure ring 700; damping assembly 800; damping ring 810; elastic damping part 820; limiting strip 900. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0020] To address the technical problem of cumbersome operation caused by repeatedly tightening and loosening the fixing components to restrict or release the relative rotation of the first and second base bodies through clockwise or counterclockwise rotation, this invention provides a rotating device and a bionic prosthesis. This device achieves this by setting at least one sliding member 300 between the first rotating body 100 and the second rotating body 200, wherein one end of the locking block 310 is connected to the second rotating body 200 and the other end is inserted into the locking slot 110, allowing the second rotating body 200 to move freely without... The first rotating body 100 rotates relative to the second rotating body 200, which is in a locked state. After the locking block 310 slides relative to the second rotating body 200, the locking block 310 separates from the locking slot 110. The second rotating body 200 can then rotate relative to the first rotating body 100, which is in an unlocked state. The elastic restoring force generated by the elastic part 320 allows the locking block 310, which has separated from the locking slot 110, to automatically reset. The locking block 310 then engages with the locking slot 110 again to achieve locking. There is no need to repeatedly rotate the fixing parts, making the operation convenient and the structure simple.

[0021] Please see Figures 1 to 4 , Figure 1 This is a schematic diagram of a rotating device and a bionic prosthesis according to an embodiment of the present invention. The rotating device includes: a first rotating body 100, a second rotating body 200, and at least one sliding member 300. The first rotating body 100 has at least two slots 110 along its circumference. The second rotating body 200 is rotatably connected to the first rotating body 100. The sliding member 300 includes a locking block 310 and at least one elastic part 320. One end of the locking block 310 is connected to the second rotating body 200, and the other end of the locking block 310 has a limiting state of being inserted into the slot 110 and a disengaging state of sliding out of the slot 110. When the locking block 310 is in the limiting state, it is used to restrict the rotation of the second rotating body 200 relative to the first rotating body 100. When it is in the disengaging state, the restriction is released. The elastic part 320 is connected to the locking block 310 and the second rotating body 200 and is used to provide the elastic force for the locking block 310 to return to its original position after sliding relative to the slot 110.

[0022] In this device, compared to the prior art, by providing at least one sliding member 300 between the first rotating body 100 and the second rotating body 200, wherein one end of the locking block 310 is connected to the second rotating body 200 and the other end is inserted into the locking slot 110, the second rotating body 200 cannot rotate relative to the first rotating body 100 and is in a locked state. After the locking block 310 slides relative to the second rotating body 200, the locking block 310 separates from the locking slot 110, and the second rotating body 200 can rotate relative to the first rotating body 100. With 0 rotation, the device is in the unlocked state. The elastic restoring force generated by the elastic part 320 allows the locking block 310, which is separated from the slot 110, to automatically reset. The locking block 310 then engages with the slot 110 again to achieve locking. This eliminates the need for repeated rotation of the fixing parts, making the operation convenient and the structure simple. It solves the technical problem in the prior art where repeated clockwise or counterclockwise rotation is required to tighten and loosen the fixing parts to restrict or release the relative rotation of the first and second bases, resulting in cumbersome operation steps.

[0023] Furthermore, either the first rotating body 100 or the second rotating body 200 is connected to the bionic robotic hand, and the other rotating body 100 or the second rotating body 200 is connected to the bionic arm, so as to realize the rotation between the bionic robotic hand and the bionic arm, thereby facilitating use. This is a conventional setting known to those skilled in the art, and will not be described in detail here.

[0024] In this embodiment, as Figures 1 to 4 As shown, the first rotating body 100 includes a first rotating ring 120 and a second rotating ring 130. The second rotating ring 130 is coaxially arranged and connected to the first rotating ring 120. The outer diameter of the second rotating ring 130 is smaller than the outer diameter of the first rotating ring 120. The second rotating body 200 is rotatably sleeved on the second rotating ring 130.

[0025] The first rotating ring 120 and the second rotating ring 130 are connected to form a stepped rotating structure. The central holes of the first rotating ring 120 and the second rotating ring 130 are used to facilitate wiring, which will not be described in detail here.

[0026] In order to reduce the volume of the biomimetic structure and improve its aesthetics, the first rotating body 100 and the second rotating body 200 are connected by a rotating structure with a coaxial sleeve 500.

[0027] In one embodiment, such as Figure 1 , Figure 4 As shown, the rotary device also includes a rotating ring 400, which is coaxially arranged with the second rotating ring 130 and connected to the first rotating ring 120. The rotating ring 400 has a plurality of slots 110 along its circumference that can engage with the locking block 310.

[0028] By setting the rotating ring 400, a misaligned fit structure is formed with the locking block 310.

[0029] Furthermore, the rotating ring 400 here is composed of multiple fixed blocks arranged in a ring, and a slot 110 is formed between two adjacent fixed blocks to achieve engagement with the slot block 310.

[0030] In some embodiments, in order to improve the stability between the limiting structures, there are two sliding members 300, and the two locking blocks 310 are spaced apart along the circumferential direction of the first rotating ring 120.

[0031] Furthermore, by setting two sliders 300, user misoperation can be prevented.

[0032] In one embodiment, such as Figure 1 , Figure 3 As shown, the second rotating body 200 includes a third rotating ring 210, and a coaxial sleeve 500 is disposed on the second rotating ring 130. The third rotating ring 210 has at least one sliding groove. The sliding member 300 also includes a slider 330, which is slidably built into the sliding groove. One end of the locking block 310 is built into a locking groove 110 and the other end is connected to the slider 330. One end of the elastic part 320 is connected to the bottom inner wall of the sliding groove and the other end is connected to the slider 330, which is used to push the slider 330 to slide relative to the sliding groove and then automatically reset.

[0033] The groove is used to accommodate the card block 310 and to achieve a sliding connection between the card block 310 and the second rotating body 200.

[0034] Furthermore, the groove provides a sliding lifting clearance space for the elastic part 320 and the locking block 310.

[0035] In one embodiment, such as Figure 1 , Figure 3 As shown, at least one groove is provided on the bottom inner wall of the slide. One end of the elastic part 320 is built into the groove and connected to the bottom inner wall of the groove. The other end of the elastic part 320 is connected to the slider 330.

[0036] The groove is used to improve the stability of the connection between the elastic part 320 and the bottom of the groove.

[0037] Furthermore, by providing grooves, sufficient sliding space can be provided for the card block 310.

[0038] In some embodiments, the elastic part 320 is a spring that is common in the market and readily available. It can also be an elastic block or a spring sheet. This is a conventional setting known to those skilled in the art and will not be described in detail here.

[0039] Furthermore, there are two elastic parts 320 here, which are used to improve the stability of the device during operation.

[0040] In one embodiment, such as Figure 3 As shown, the slider 330 has a guide groove on the bottom inner wall of the slide groove, and the slider 300 also includes at least one guide post 340, one end of which is connected to the bottom inner wall of the slide groove, and the other end is slidably inserted into the guide groove.

[0041] The cooperation between the guide post 340 and the guide groove improves the stability of the sliding of the slider 330 relative to the groove.

[0042] In one embodiment, such as Figures 1 to 4 As shown, the slider 330 is in the shape of an inverted "T" and has a first segment and a second segment. The cross-sectional area of ​​the second segment is larger than that of the first segment, and the second segment is positioned relative to the first segment near the bottom inner wall of the slide groove. The second rotating body 200 also includes a rotating cover 220, which covers the third rotating ring 210 and has a through groove relative to the slide groove. The cross-sectional area of ​​the through groove is larger than that of the first segment and smaller than that of the second segment.

[0043] By setting the rotary cover 220, the sliding of the slider 330 relative to the third rotary ring 210 can be limited.

[0044] In one embodiment, such as Figure 1 As shown, the rotary device also includes a bushing 500 and a spacer 600. The bushing 500 is connected to the rotary cover 220 and partially extends to the first rotary ring 120. The bushing 500 can rotate relative to the first rotary ring 120. The spacer 600 is disposed between the bushing 500 and the first rotary ring 120 and abuts against both the bushing 500 and the first rotary ring 120.

[0045] One end of the bushing 500 is connected to the rotating cover 220, and the other end extends to be connected to the first rotating ring 120. It is used to realize the rotational connection between the third rotating ring 210 and the rotating cover 220 relative to the first rotating ring 120 and the second rotating ring 130. The spacer 600 is used to reduce the frictional force when sliding relative to each other.

[0046] Furthermore, the bushing 500 is T-shaped and can cooperate with the first rotating ring 120 to prevent accidental separation of the two when the second rotating body 200 rotates relative to the first rotating body 100.

[0047] In addition, in some embodiments, the bushing 500 and the spacer 600 are both made of nylon, which has the effect of wear resistance and friction reduction. This is a conventional setting known to those skilled in the art and will not be described in detail here.

[0048] Furthermore, the rotary device also includes a limiting pressure ring 700, which is located on the outside of the bushing 500 and is detachably connected to the bushing 500, the third rotary ring 210 and the rotary cover 220 through fastening connectors, for convenient maintenance or replacement, which will not be described in detail here.

[0049] In some embodiments, the bushing 500 has a limiting groove along its circumference, and the rotary device also includes a limiting strip 900. One end of the limiting strip 900 is slidably embedded in the limiting groove, and the other end is connected to the first rotary ring 120 to ensure the coaxial rotation between the first rotary body 100 and the second rotary body 200. This will not be described in detail here.

[0050] Furthermore, the limiting grooves penetrate the bushing 500 and the limiting pressure ring 700 respectively.

[0051] In this embodiment, as Figure 1 As shown, the rotary device also includes a damping assembly 800, which includes a damping ring 810 and at least one elastic damping part 820. The damping ring 810 is coaxially arranged with the second rotary ring 130 and is fixedly sleeved on the second rotary ring 130. The damping ring 810 has a plurality of damping grooves along its circumference. One end of the elastic damping part 820 is connected to the third rotary ring 210 and the other end is engaged in the damping groove.

[0052] By setting a damping ring 810 and at least one elastic damping part 820, and utilizing the damping groove on the damping ring 810 to provide damping for the coaxial rotation between the first rotating body 100 and the second rotating body 200, the user can be alerted.

[0053] Furthermore, the elastic damping part 820 here is a glass bead that is common and easy to purchase on the market. The glass bead is a spring ball head plunger press-in positioning bead. The position of the glass bead corresponds to the damping groove. When rotating relative to each other, the glass bead is affected by the rotational force, causing the spring inside the glass bead to extend and retract. The ball undulates in the groove of the adapter shaft, thereby achieving a certain damping feel and ensuring that the locking buckle rotates to the position of the locking groove.

[0054] In some embodiments, the number of elastic damping parts 820 is four, and the four elastic damping parts 820 are spaced apart along the circumferential direction of the third rotating ring 210.

[0055] This utility model also provides a bionic prosthesis, including a bionic robotic hand and a rotating device, wherein the bionic robotic hand is connected to either the first rotating body 100 or the second rotating body 200.

[0056] By connecting either the first rotating body 100 or the second rotating body 200 to the bionic robotic hand, the connection between the bionic robotic hand and the bionic arm can be realized, thus functioning as a bionic wrist. This is a conventional setting known to those skilled in the art, and reference can be made to Chinese Utility Model Patent CN111300477B, entitled "A Bionic Wrist, Bionic Hand and Robotic Arm," which will not be elaborated upon here.

[0057] To better understand this utility model, the following is combined with... Figures 1 to 4 The technical solution of this utility model is described in detail below: The second rotating body 200 is rotatably connected to the first rotating body 100, and the first rotating body 100 has at least two slots 110 along its circumference. One end of the locking block is connected to the second rotating body 200 and the other end is inserted into the slot 110. It is used to restrict the rotation of the second rotating body 200 relative to the first rotating body 100. The locking block 310 can slide relative to the second rotating body 200 to release the restriction. The elastic part 320 is connected to the locking block 310 and the second rotating body 200 to drive the locking block 310 to slide relative to the slot 110 and then automatically reset. Compared to existing technologies, by providing at least one sliding member 300 between the first rotating body 100 and the second rotating body 200, wherein one end of the locking block 310 is connected to the second rotating body 200 and the other end is inserted into the slot 110, the second rotating body 200 cannot rotate relative to the first rotating body 100, and is in a locked state. After the locking block 310 slides relative to the second rotating body 200, the locking block 310 separates from the slot 110, and the second rotating body 200 can rotate relative to the first rotating body 100, and is in an unlocked state. Then, the elastic restoring force generated by the elastic part 320 allows the locking block 310, which is separated from the slot 110, to automatically reset. The locking block 310 then locks back into the slot 110, eliminating the need for repeated rotation of the fixing member. This method is convenient to operate and has a simple structure.

[0058] When using this device, if it is necessary to achieve rotation between the first rotating body 100 and the second rotating body 200, the user can press the slider 330. The slider 330 slides relative to the third rotating ring 210 and the rotating cover 220 to drive the locking block 310 to separate from the slot 110. Here, the locking block 310 is located outside the slot 110. The user can drive the second rotating body 200 to rotate relative to the first rotating body 100. If it is necessary to lock the first rotating body 100 relative to the second rotating body 200, the user only needs to release the pressing force. Under the action of the elastic part 320, the slider drives the locking block 310 to slide relative to the third rotating ring 210, and the locking block 310 is located in the slot 110. The second rotating body 200 cannot rotate relative to the first rotating body 100.

[0059] Furthermore, during the rotation of the second rotating body 200 relative to the first rotating body 100, the elastic damping part 820 located between the two can continuously undulate relative to the damping groove, thereby achieving a certain damping sensation, serving as a reminder to the user, and ensuring that the card block 310 rotates to the position of the card slot 110.

[0060] This application, through the above structure, can solve the technical problem in the prior art that requires repeated clockwise or counterclockwise rotation to tighten and loosen the fastener in order to limit or release the relative rotation of the first base and the second base, resulting in cumbersome operation steps.

[0061] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A rotary device, characterized in that, include: The first rotating body has at least two slots along its circumference; The second rotating body is rotatably connected to the first rotating body; as well as At least one sliding member, the sliding member including a locking block and at least one elastic part, one end of the locking block being connected to the second rotating body, the other end of the locking block having a limiting state of being inserted into the locking slot and a disengaging state of sliding out of the locking slot, the locking block being used to restrict the rotation of the second rotating body relative to the first rotating body in the limiting state, and releasing the restriction in the disengaging state, the elastic part being connected to the locking block and the second rotating body, being used to provide the elastic force for the locking block to reset after sliding relative to the locking slot.

2. The rotary device according to claim 1, characterized in that, The first rotating body includes a first rotating ring and a second rotating ring. The second rotating ring is coaxially arranged and connected to the first rotating ring. The outer diameter of the second rotating ring is smaller than the outer diameter of the first rotating ring. The second rotating body is rotatably sleeved on the second rotating ring.

3. The rotary device according to claim 2, characterized in that, The rotary device further includes a rotating ring, which is coaxially arranged with the second rotating ring and connected to the first rotating ring. The rotating ring has a plurality of slots along its circumference that can engage with the locking block.

4. The rotary device according to claim 2, characterized in that, The second rotating body includes a third rotating ring, which is coaxially sleeved on the second rotating ring. The third rotating ring has at least one sliding groove. The sliding member also includes a slider, which is slidably built into the sliding groove. One end of the locking block is built into a locking groove and the other end is connected to the slider. One end of the elastic part is connected to the bottom inner wall of the sliding groove and the other end is connected to the slider, which is used to push the slider to slide relative to the sliding groove and then automatically reset.

5. The rotary device according to claim 4, characterized in that, The bottom inner wall of the slide is also provided with at least one groove, one end of the elastic part is built into the groove and connected to the bottom inner wall of the groove, and the other end of the elastic part is connected to the slider.

6. The rotary device according to claim 4, characterized in that, The slider has a guide groove on the bottom inner wall of the slide groove, and the slider also includes at least one guide post, one end of which is connected to the bottom inner wall of the slide groove and the other end is slidably inserted into the guide groove.

7. The rotary device according to claim 4, characterized in that, The slider is in the shape of an inverted "T" and has a first segment and a second segment. The cross-sectional area of ​​the second segment is larger than that of the first segment, and the second segment is disposed relative to the first segment near the bottom inner wall of the slide groove. The second rotating body also includes a rotating cover, which covers the third rotating ring and has a through groove relative to the slide groove. The cross-sectional area of ​​the through groove is larger than that of the first segment and smaller than that of the second segment.

8. The rotary device according to claim 7, characterized in that, The rotary device further includes a bushing and a spacer. The bushing is connected to the rotary cover and partially extends to the first rotary ring. The bushing is rotatable relative to the first rotary ring. The spacer is disposed between the bushing and the first rotary ring and abuts against both the bushing and the first rotary ring.

9. The rotary device according to claim 4, characterized in that, The rotary device further includes a damping assembly, which includes a damping ring and at least one elastic damping part. The damping ring is coaxially arranged with the second rotary ring and is fixedly sleeved on the second rotary ring. The damping ring has multiple damping grooves along its circumference. One end of the elastic damping part is connected to the third rotary ring, and the other end is engaged with the damping groove.

10. A bionic prosthesis, characterized in that, It includes a bionic robotic hand and a rotary device as described in any one of claims 1-9, wherein the bionic robotic hand is connected to either the first rotary body or the second rotary body.

Images