CN109172064B - Artificial hand sensing mechanism and system supporting cloud fusion - Google Patents

Abstract

The invention relates to a prosthetic hand perception mechanism and system supporting cloud fusion, and belongs to the technical field of bionic prosthetic hands. The prosthetic hand sensing mechanism includes a long finger portion, a thumb portion, four connecting blocks, a palm portion and a printed circuit board; the long finger portion includes four long finger mechanisms, which are an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism, respectively. Each long finger mechanism includes a proximal phalanx, a middle finger-distal phalanx, a first metacarpophalangeal joint seat and a first connecting piece; the thumb includes a proximal phalanx of the thumb, a distal phalanx of the thumb, a second metacarpophalangeal joint seat, and a first joint seat. Two connecting pieces; the proximal phalanx of each long finger mechanism is hinged with a connecting block; the palm part includes a casing, a rotary drive mechanism and four linear drive mechanisms installed in the casing; the printed circuit board is installed in the casing, A main controller module, a drive module and a data communication module are integrated on the printed circuit board. The artificial hand perception mechanism can make corresponding gesture actions according to the gesture action recognition result recognized by the cloud host computer.

Description

A prosthetic hand perception mechanism and system supporting cloud fusion

technical field

The invention relates to the technical field of bionic artificial hands, in particular to a prosthetic hand perception mechanism and system supporting cloud fusion.

Background technique

The research on artificial limbs can be applied to many fields such as high-end medical equipment, biomechanical-integrated intelligent robots, hazardous environment exploration, disaster rescue equipment, national defense equipment, and assisting disabled people to carry out rehabilitation engineering training. Its scientific and technological achievements can be radiated and have important strategic significance.

With the continuous progress of robot technology, industrial robots and service robots have entered the era of ordinary consumers more and more frequently. So far, the hand structure of humanoid robots based on a single degree of freedom has been very mature, but with multiple degrees of freedom The design and control of dexterous prosthetic hands is still lacking.

SUMMARY OF THE INVENTION

In order to solve the problem of the lack of multi-degree-of-freedom dexterous prosthetic hands in the prior art, on the one hand, the present invention provides a prosthetic hand sensing mechanism supporting cloud fusion. The prosthetic hand sensing mechanism supporting cloud fusion includes a long finger, a thumb , four connection blocks, palm and printed circuit board;

The long finger part includes four long finger mechanisms, namely the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism. A connecting piece, the proximal phalanx includes two long-finger side plates arranged oppositely and a long-finger back plate connecting the two long-finger side plates, the two long-finger side plates are hinged with the middle finger-distal phalanx, and the two long-finger side plates It is also hinged with the first metacarpophalangeal joint seat, one end of the first connecting piece is hinged with the middle finger-distal phalanx, and the other end is hinged with the first metacarpophalangeal joint seat, the first connecting piece and the two long finger side plates intersect, each The first metacarpophalangeal joint seat of the long finger mechanism is installed on the palm;

The thumb part includes the proximal phalanx of the thumb, the distal phalanx of the thumb, the second metacarpophalangeal joint seat and the second connecting piece. The proximal phalanx of the thumb includes two oppositely arranged thumb side plates and a connecting plate connecting the two thumb side plates. One thumb side plate is hinged with the distal phalanx of the thumb, the two thumb side plates are also hinged with the second metacarpophalangeal joint seat, one end of the second connecting piece is hinged with the distal phalanx of the thumb, and the other end is hinged with the second metacarpophalangeal joint seat, The second connecting piece intersects with the two thumb side plates, and the second metacarpophalangeal joint seat is installed on the palm;

The proximal phalanx of each long-finger mechanism is hinged with one of the connecting blocks, wherein the connecting block is hinged between the two long-finger side plates of the proximal phalanx, and the two long-finger side plates of the little finger mechanism are connected to the connecting block. The connecting block between the two long-finger side plates is hinged through a pin, which is simultaneously hinged with the connecting block between the two long-finger side plates of the ring finger mechanism;

The palm includes a housing, a rotary drive mechanism and four linear drive mechanisms installed in the housing, and the four linear drive mechanisms are respectively a first linear drive mechanism, a second linear drive mechanism, a third linear drive mechanism and a fourth linear drive mechanism. Drive mechanism, the output end of the first linear drive mechanism is hinged with the distal phalanx of the thumb, the output end of the second linear drive mechanism is hinged with the connecting block hinged on the index finger mechanism, and the output end of the third linear drive mechanism is hinged is hinged with the connecting block hinged on the middle finger mechanism, the fourth linear drive mechanism is hinged with the connecting block hinged on the little finger mechanism, and the output end of the rotary drive mechanism is fixedly connected with the second metacarpophalangeal joint seat;

The printed circuit board is installed in the housing, and the printed circuit board is integrated with a main controller module, a drive module and a data communication module. The data communication module is used to receive the gesture action recognition result recognized by the cloud host computer, and the main controller module It is used to send a control signal to the drive module according to the gesture action recognition result, and the drive module is used to control the movement of the rotary drive mechanism and the four linear drive mechanisms respectively according to the control signal sent by the main controller module, so that the long finger and the thumb make gestures action.

The middle finger-distal phalanx of each long-finger mechanism includes a profiled finger shell, two symmetrical distal phalanx connecting ears protrude from the left and right sides of the profiled finger shell, and two symmetrical distal phalanx connecting ears There are two pairs of connecting shaft holes on it, the pair of connecting shaft holes close to the side of the finger shell of the profiling finger shell is the first pair of connecting shaft holes, and the pair of connecting shaft holes far from the side of the finger shell of the profiling finger shell is the second pair. For connecting shaft hole;

Wherein, one end of the first connecting member of each long-finger mechanism is hinged with the first pair of connecting shaft holes of the long-finger mechanism through a first short pin, and the first connecting member of each long-finger mechanism is located on two sides of the long-finger mechanism. Between the connecting ears of the distal phalanx, the front ends of the two long-finger side plates of each long-finger mechanism are hinged with the second pair of connecting shaft holes of the long-finger mechanism through second short pins, and the two long-finger mechanism The finger side plate is located on the outside of the two distal phalanx connecting ears of the long finger mechanism.

The first metacarpophalangeal joint seat of each long-finger mechanism includes a base body, a first pair of base connecting ears arranged on the top of the base body, a second pair of base connecting ears arranged on the side of the base body, The pair of base connecting lugs are provided with a pair of connecting shaft holes, which are the third pair of connecting shaft holes, and the second pair of base connecting ears are also provided with a pair of connecting shaft holes, which are the fourth pair of connecting shaft holes;

Wherein, the other end of the first connecting member of each long-finger mechanism is hinged with the third pair of connecting shaft holes of the long-finger mechanism through a third short pin, and the first connecting member of each long-finger mechanism is located on the side of the long-finger mechanism. Between the first pair of base connecting ears, the ends of the two long-finger side plates of each long-finger mechanism are hinged with the fourth pair of connecting shaft holes of the long-finger mechanism through fourth short pins, and the two long-finger mechanism The long-finger side plate is located outside the second pair of base connecting ears of the long-finger mechanism.

Each of the two long-finger side plates of each long-finger mechanism protrudes a proximal phalanx connecting lug, and the proximal phalanx connecting lugs on each long-finger side plate are located between the front end and the end of the long-finger side plate In between, the four connecting blocks are H-type connecting blocks, and the four connecting blocks are the first connecting block, the second connecting block, the third connecting block and the fourth connecting block;

The two proximal phalanx connecting ears of the index finger mechanism are hinged with the two protruding ends of the top of the first connecting block, and the two protruding ends of the top of the first connecting block are located between the two proximal phalanx connecting ears of the index finger mechanism , the output end of the second linear drive mechanism is hinged with the two extension ends at the bottom of the first connection block, and the output end of the second linear drive mechanism is located between the two extension ends at the bottom of the first connection block;

The two proximal phalanx connecting ears of the middle finger mechanism are hinged with the two protruding ends of the top of the second connecting block, and the two protruding ends of the top of the second connecting block are located between the two proximal phalanx connecting ears of the middle finger mechanism , the output end of the third linear drive mechanism is hinged with the two extension ends at the bottom of the second connection block, and the output end of the third linear drive mechanism is located between the two extension ends at the bottom of the second connection block;

The two proximal phalanx connecting ears of the ring finger mechanism are hinged with the two protruding ends of the top of the third connecting block, and the two protruding ends of the top of the third connecting block are located between the two proximal phalanx connecting ears of the ring finger mechanism ;

The two proximal phalanx connecting ears of the little finger mechanism are hinged with the two protruding ends of the top of the fourth connecting block through the pin shaft, and the pin shaft is simultaneously connected to the two protruding ends of the bottom of the third connecting block. hinged, the two protruding ends of the top of the fourth connecting block are located between the two proximal phalangeal connecting ears of the little finger mechanism, and the output end of the fourth linear drive mechanism is hinged with the two protruding ends of the bottom of the fourth connecting block , the output end of the fourth linear drive mechanism is located between the two protruding ends of the bottom of the fourth connecting block.

The first linear drive mechanism, the second linear drive mechanism, the third linear drive mechanism and the fourth linear drive mechanism are all linear motors.

The rotary drive mechanism includes a rotary motor, a first gear, a second gear and a rotating shaft;

The rotating electrical machine is installed in the housing, the output shaft of the rotating electrical machine is fixedly connected with the first gear, the first gear is meshed with the second gear, and one end of the rotating shaft is fixed at the center of the second gear;

The bottom of the second metacarpophalangeal joint seat is provided with two connecting platforms, and the rotating shaft passes through the two connecting platforms and can drive the second metacarpophalangeal joint seat to rotate together.

The shell includes a back shell, a palm shell and a palm base;

The palm base is located between the back shell and the palm shell, the palm shell is buckled on one side of the palm base, and the palm shell is buckled on the other side of the palm base;

The printed circuit board is installed on the side of the palm base close to the shell of the back of the hand, and the rotary drive mechanism and the four linear drive mechanisms are installed on the side of the palm base close to the shell of the palm center;

The top of the palm base is provided with four wedge-shaped grooves, the first metacarpophalangeal joint seat of each long-finger mechanism corresponds to a wedge-shaped groove, and the bottom of the first metacarpophalangeal joint seat of each long-finger mechanism is provided with a wedge-shaped groove. Wedge-shaped block, the wedge-shaped block of each first metacarpophalangeal joint seat is installed in its corresponding wedge-shaped groove.

A contact pressure sensor is installed in the middle finger-distal phalanx of each long-finger mechanism, a contact pressure sensor is installed in the thumb distal phalanx of the thumb, and each contact pressure sensor is connected with The main controller module is electrically connected.

A strain load cell is installed on the first connecting piece of each long finger mechanism, a strain load cell is installed on the second connecting piece of the thumb, and each strain load cell is connected to the main The controller module is electrically connected.

In another aspect, the present invention provides a prosthetic hand perception system supporting cloud fusion, wherein the prosthetic hand perception system supporting cloud fusion includes an electromyographic signal acquisition device, a cloud host computer, and the artificial hand perception mechanism;

The electromyographic signal acquisition device is used to wear on the user's forearm to collect the electromyographic signal generated by the user's forearm muscle group;

The cloud host computer is used to receive the EMG signal collected by the EMG signal acquisition device, and process the received EMG signal to obtain the gesture action recognition result;

The prosthetic hand perception mechanism is used for receiving the gesture action recognition result, and making a gesture action according to the received gesture action recognition result.

Through the above technical solutions, with respect to the prior art, the present invention has the following beneficial effects:

The artificial hand sensing mechanism in the present invention can make corresponding gesture actions according to the gesture action recognition result recognized by the cloud host computer. The artificial hand sensing mechanism is a humanoid multi-free vacation hand with sensing function. At the same time, the artificial hand sensing mechanism It can reflect the force and tactile information of each finger and realize the sense of presence of the user when operating the prosthetic hand sensing mechanism. Therefore, it can be applied to the industrial field as an industrial robot, or as a service robot, or as a prosthetic limb to enable the disabled to make Corresponding gesture actions can also be applied to fields that require manipulators, such as dangerous environment surveys, disaster rescue devices, and national defense equipment. Compared with the existing prosthetic hand mechanisms, the prosthetic hand sensing mechanism in the present invention can establish interaction with users. The prosthetic hand perception mechanism can be made by 3D printing, and the cost is low; the thumb can not only realize the bending action, but also realize the rotating action, which is closer to the actual hand movement and more dexterous; the thumb The rotation is realized by the gear meshing mechanism, which can reduce the hysteresis during the rotation of the thumb, and the control precision is higher; the connection between the long finger and the palm through the wedge structure makes the connection structure more stable and tight; the prosthetic hand sensing mechanism structure It is simple and convenient to assemble, which not only reduces the assembly complexity, but also ensures the flexibility of the prosthetic hand sensing mechanism.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the structural representation of the artificial hand perception mechanism of the present invention;

2 is a schematic diagram of the internal structure of the prosthetic hand sensing mechanism of the present invention;

Fig. 3 is the connection structure schematic diagram of the index finger mechanism of the present invention and the first linear drive mechanism;

4 is a schematic diagram of the connection structure of the ring finger mechanism, the little finger mechanism and the fourth linear drive mechanism of the present invention;

Fig. 5 is the structural representation of the proximal phalanx of each long finger mechanism of the present invention;

Fig. 6 is the partial structure schematic diagram of the thumb mechanism of the present invention;

Fig. 7 is the structural representation of the proximal phalanx of the thumb of the present invention;

Fig. 8 is the structural representation of the first metacarpophalangeal joint seat of the present invention;

9 is a schematic diagram of the installation position of the contact pressure sensor of the present invention;

10 is a schematic diagram of the installation position of the strain load cell of the present invention;

FIG. 11 is a working principle diagram of the prosthetic hand perception system supporting cloud fusion of the present invention.

In the picture:

1 index finger mechanism, 2 middle finger mechanism, 3 ring finger mechanism, 4 little finger mechanism, 5 proximal phalanx, 6 middle finger-distal phalanx, 7 first metacarpophalangeal joint seat, 8 first connecting piece, 9 long finger side plate, 10 long Finger back plate, 11 distal knuckle connection ears, 12 first short pin, 13 second short pin, 14 base body, 15 first pair of base connection ears, 16 second pair of base connection ears, 17 third short pin, 18 fourth short pin, 19 thumb proximal phalanx, 20 thumb distal phalanx, 21 second metacarpophalangeal joint seat, 22 second connecting piece, 23 thumb side plate, 24 connecting plate, 25 shell, 26 back of hand shell , 27 palm shell, 28 palm base, 29 wedge block, 30 first linear drive mechanism, 31 second linear drive mechanism, 32 third linear drive mechanism, 33 fourth linear drive mechanism, 34 hollow circular table, 35 rotary motor , 36 The first gear, 37 The second gear, 38 The connection table, 39 The fixed seat with holes, 40 The slot, 41 The pin, 42 The proximal knuckle connection ear, 43 The first connection block, 44 The second connection block, 45 The third connection block, 46 the fourth connection block, 47 contact pressure sensor, 48 strain force sensor, 49 wire.

Detailed ways

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

Example 1

As shown in FIG. 1 to FIG. 11 , the present embodiment provides a prosthetic hand perception mechanism supporting cloud fusion. The prosthetic hand perception mechanism supporting cloud fusion includes a long finger, a thumb, four connection blocks, a palm, and a printed circuit plate;

The long finger part includes four long finger mechanisms, namely index finger mechanism 1, middle finger mechanism 2, ring finger mechanism 3 and little finger mechanism 4. Each long finger mechanism includes proximal phalanx 5, middle finger-distal phalanx 6, and first palm. The knuckle seat 7 and the first connecting piece 8;

For each long-finger mechanism, as shown in FIG. 5 , the proximal phalanx 5 includes two long-finger side plates 9 arranged opposite to each other and a long-finger back plate 10 connecting the two long-finger side plates 9 . The plate 9 and the long-finger back plate 10 are integrally formed;

For each long-finger mechanism, the two long-finger side plates 9 are hinged with the middle finger-distal phalanx 6, the two long-finger side plates 9 are also hinged with the first metacarpophalangeal joint seat 7, and one end of the first connecting piece 8 is hinged with the middle finger - The distal phalanx 6 is hinged, the other end is hinged with the first metacarpophalangeal joint seat 7, the first connecting member 8 and the two long-finger side plates 9 are crossed, in the present invention, the first connecting member can be a connecting rod, each The first metacarpophalangeal joint seat 7 of the long finger mechanism is installed on the palm, and the specific hinge is as follows:

The middle finger-distal phalanx 6 of each long-finger mechanism includes a profiled finger shell, the profiled finger shell imitates the middle and distal knuckles of a human hand, and the left and right sides of the profiled finger shell protrude two symmetrical The distal phalanx connecting lugs 11 are provided with two pairs of connecting shaft holes on the two symmetrical distal phalanx connecting lugs 11. A pair of connecting shaft holes on one side of the finger belly of the profiling finger shell are the second pair of connecting shaft holes;

Wherein, as shown in FIG. 2 , and referring to FIGS. 3 and 4 , one end of the first connecting member 8 of each long-finger mechanism is hinged with the first pair of connecting shaft holes of the long-finger mechanism through the first short pins 12 , each The first connecting piece 8 of each long-finger mechanism is located between the two distal phalanx connecting ears 11 of the long-finger mechanism, the first short pin 12 is in clearance fit with the first pair of connecting shaft holes, the first short pin 12 and A connector 8 is an interference fit;

As shown in FIG. 2 , and referring to FIGS. 3 and 4 , the front ends of the two long-finger side plates 9 of each long-finger mechanism are hinged with the second pair of connecting shaft holes of the long-finger mechanism through second short pins 13 , each The two long-finger side plates 9 of the long-finger mechanism are located outside the two distal phalanx connecting ears 11 of the long-finger mechanism, the second short pin 13 is an interference fit with the second pair of connecting shaft holes, and the second short pin 13 Clearly fit with the front ends of the two long-finger side plates 9;

As shown in FIG. 8 , the first metacarpophalangeal joint seat 7 of each long finger mechanism includes a base body 14 , a first pair of base connecting ears 15 arranged on the top of the base body 14 , and a pair of base connecting ears 15 arranged on the side of the base body 14 . The second pair of base connecting ears 16, the first pair of base connecting ears 15 are provided with a pair of connecting shaft holes, which are the third pair of connecting shaft holes, and the second pair of base connecting ears 16 are also provided with a pair of connecting shaft holes. It is the fourth pair of connecting shaft holes;

Wherein, the other end of the first connecting member 8 of each long finger mechanism is hinged with the third pair of connecting shaft holes of the long finger mechanism through the third short pin 17, and the first connecting member 8 of each long finger mechanism is located in the long finger mechanism. Between the first pair of base connecting lugs 15 of the finger mechanism, the third short pin 17 is an interference fit with the first connecting piece 8 , and the third short pin 17 is a clearance fit with the third pair of connecting shaft holes, see FIG. 3 The index finger mechanism shown in;

The ends of the two long-finger side plates 9 of each long-finger mechanism are hinged with the fourth pair of connecting shaft holes of the long-finger mechanism through fourth short pins 18 , and the two long-finger side plates 9 of each long-finger mechanism are located in the long-finger mechanism. On the outside of the second pair of base connecting ears 16 of the finger mechanism, the fourth short pin 18 is a clearance fit with the ends of the two long finger side plates 9, and the fourth short pin 18 is an interference fit with the fourth pair of connecting shaft holes, which can be See the index finger mechanism shown in FIG. 3 .

As shown in FIG. 1 , the thumb includes the proximal phalanx 19 of the thumb, the distal phalanx 20 of the thumb, the second metacarpophalangeal joint seat 21 and the second connecting piece 22 . As shown in FIG. 7 , the proximal phalanx 19 of the thumb includes two opposite The thumb side plates 23 and the connecting plate 24 connecting the two thumb side plates 23 are provided, the two thumb side plates 23 are hinged with the thumb distal phalanx 20, and the two thumb side plates 23 are also hinged with the second metacarpophalangeal joint seat 21, As shown in FIG. 6 , one end of the second connecting member 22 is hinged with the distal thumb joint 20 , and the other end is hinged with the second metacarpophalangeal joint seat 21 . As shown in FIG. 1 , the second connecting member 22 and the two thumb side plates 23 are hinged. Crossed, the second metacarpophalangeal joint seat 21 is installed on the palm.

The palm includes a housing 25, a rotary drive mechanism and four linear drive mechanisms installed in the housing 25,

As shown in FIG. 1 , in the present invention, the shell 25 includes the back of the hand shell 26, the palm shell 27 and the palm base 28; the palm base 28 is located between the back of the hand shell 26 and the palm shell 27, and the palm shell 27 is buckled on the palm base On one side of the seat 28, the palm shell 27 is buckled on the other side of the palm base 28; the printed circuit board is installed on the side of the palm base 28 close to the back of the hand shell 26, and the rotary drive mechanism and the four linear drive mechanisms are installed on the palm base. The seat 28 is close to the side of the palm shell 27; the top of the palm base 28 is provided with four wedge-shaped grooves, and the first metacarpophalangeal joint seat 7 of each long finger mechanism corresponds to a wedge-shaped groove, as shown in FIG. 8, each long finger The bottom of the first metacarpophalangeal joint seat 7 of the mechanism is provided with a wedge-shaped block 29, and the wedge-shaped block 29 of each first metacarpophalangeal joint seat 7 is installed in its corresponding wedge-shaped groove.

As shown in FIG. 6 and FIG. 2 , the four linear drive mechanisms are respectively a first linear drive mechanism 30 , a second linear drive mechanism 31 , a third linear drive mechanism 32 and a fourth linear drive mechanism 33 ;

The first linear drive mechanism 30 is installed on the second metacarpophalangeal joint seat 21, and the output end of the first linear drive mechanism 30 is hinged with the distal phalanx 20 of the thumb, and the first linear drive mechanism 30 can be a linear drive motor, The output end of the linear drive motor is a linear motor push rod, the end of the distal phalanx 20 of the thumb is hinged with the second connecting piece 22, the output end of the first linear drive mechanism 30, and the two thumb side plates of the proximal phalanx 19 of the thumb 23 is hinged between the fingertip and the end of the distal phalanx 20 of the thumb by a pin;

When the output end of the first linear drive mechanism 30 is retracted inward, the proximal phalanx 19 of the thumb and the distal phalanx 20 of the thumb are driven to move to the side of the palm at the same time, wherein the bending range of the proximal phalanx 19 of the thumb is 0 ° to 40°, when the output end of the first linear drive mechanism 30 is extended, the proximal phalanx 19 of the thumb and the distal phalanx 20 of the thumb are driven to move away from the palm at the same time, and at the same time, the second connecting piece 22 It will also move away from the palm. In order to limit the proximal phalanx 19 of the thumb and the distal phalanx 20 of the thumb, a hollow circular platform 34 is set on the second metacarpophalangeal joint seat 21. During the movement in the direction of the palm, when the hollow circular platform 34 is encountered, it cannot continue to move in the direction away from the palm, so the proximal phalanx 19 of the thumb and the distal phalanx 20 of the thumb cannot continue to move away from the palm. The proximal phalanx 19 of the thumb and the distal phalanx 20 of the thumb are limited;

The output end of the rotary drive mechanism is fixedly connected with the second metacarpophalangeal joint seat 21; in the present invention, as shown in FIG. 2, the rotary drive mechanism may include a rotary motor 35, a first gear 36, a second gear 37 and a rotating shaft;

The rotary motor 35 is installed in the casing 25 and can be installed on the side of the palm base 28 close to the palm shell 27. The output shaft of the rotary motor 35 is fixedly connected with the first gear 36, the first gear 36 meshes with the second gear 37, and the rotating shaft one end is fixed at the center of the second gear 37;

As shown in FIG. 6 , the bottom of the second metacarpophalangeal joint seat 21 is provided with two connecting platforms 38 , and the rotating shaft passes through the two connecting platforms 38 and can drive the second metacarpophalangeal joint seat 21 to rotate together, as shown in FIG. 2 . , two fixed seats 39 with holes can be arranged in the palm base, the second finger joint seat 21 is placed between the two fixed seats 39 with holes, and the rotating shaft passes through the two fixed seats 39 with holes and the first Two connecting platforms 38 at the bottom of the two metacarpophalangeal joint seat 21;

When the rotary motor 35 is running, it drives the first gear 36 to rotate, the first gear 36 drives the second gear 37 to rotate, and the second gear 37 drives the second metacarpophalangeal joint seat 21 to rotate together through the rotating shaft, thereby driving the proximal phalanx 19 and 19 of the thumb to rotate together. The distal phalanx 20 of the thumb rotates together, thereby realizing the rotation of the thumb. The radius of the first gear 36 is smaller than the radius of the second gear 37, and the rotation range of the thumb is 0° to 90°. As shown in FIG. 1, in order to avoid The palm shell 27 interferes with the rotation of the thumb, and in the present invention, a slot 40 is also provided at the palm shell 27 .

The proximal phalanx 5 of each long-finger mechanism is hinged with a connecting block, wherein the connecting block is hinged between the two long-finger side plates 9 of the proximal phalanx 5 , and the two long-finger side plates 9 of the little finger mechanism 4 are connected with each other. The connecting block between the two long-finger side plates 9 is hinged through a pin 41, and the pin 41 is hinged with the connecting block between the two long-finger side plates 9 of the ring finger mechanism 3 at the same time;

The output end of the second linear drive mechanism 31 is hinged with the connecting block hinged on the index finger mechanism 1, the output end of the third linear drive mechanism 32 is hinged with the connecting block hinged on the middle finger mechanism 2, and the fourth linear drive mechanism 33 is hinged with The connection block on the little finger mechanism 4 is hinged, and the specific hinge method is as follows:

A proximal phalanx connecting ear 42 protrudes from the two long-finger side plates 9 of each long-finger mechanism. Please refer to the index finger mechanism 2 shown in FIG. 3 . 42 are located between the front end and the end of the long finger side plate 9, see Figure 2, the four connecting blocks are H-shaped The two protruding ends are also used as a pair of connecting lugs. The two pairs of connecting lugs of the H-type connecting block are provided with pin holes. The four connecting blocks are the first connecting block 43, the second connecting block 44, and the third connecting block 45. and the fourth connection block 46;

Referring to FIG. 3 , the two proximal phalanx connecting ears 42 of the index finger mechanism 1 are hinged with the two protruding ends of the top of the first connecting block 43 through a short pin, which is connected to the two proximal phalanx connecting ears of the index finger mechanism 1 42 is a clearance fit, which is an interference fit with the two protruding ends of the top of the first connecting block 43, and the two protruding ends of the top of the first connecting block 43 are located between the two proximal phalanx connecting ears 42 of the index finger mechanism 1 ; The output end of the second linear drive mechanism 31 is hinged with the two protruding ends of the bottom of the first connecting block 43 through a short pin, which is a clearance fit with the output end of the second linear drive mechanism 31 and is connected to the first The two protruding ends at the bottom of the block 43 are interference fit, the output end of the second linear drive mechanism 31 is located between the two protruding ends at the bottom of the first connecting block 43, and the second linear drive mechanism 31 is a linear drive motor, The output end of the linear drive motor is the linear motor push rod;

The output end of the second linear drive mechanism 31 , the first connecting block 43 and the proximal phalanx 5 of the index finger mechanism 1 form a crank-slider mechanism. When the output end of the second linear drive mechanism 31 is retracted inward, it drives the The first connecting block 43 makes the proximal phalanx 5 of the index finger mechanism 1 rotate toward the inside of the palm of the palm, and due to the constraints of each mechanism, the middle finger-distal phalanx 6 of the index finger mechanism 1 is made to revolve around the first finger mounted on the index finger mechanism 1. The two short pins 13 rotate towards the inside of the palm at the same time, so that the index finger mechanism 1 completes the bending process of imitating human fingers; The phalanx 5 and the middle finger-distal phalanx 6 make a rotational motion to the inside of the palm away from the palm, so that the index finger mechanism 1 completes the straightening process of the human finger, wherein the bending range of the proximal phalanx 5 of the index finger mechanism 1 is 0° to 90°.

The two proximal phalanx connecting ears 42 of the middle finger mechanism 2 are hinged with the two protruding ends of the top of the second connecting block 44 through a short pin, which is a clearance fit with the two proximal phalanx connecting ears 42 of the middle finger mechanism 2 , and the two protruding ends of the top of the second connecting block 44 are interference fit, and the two protruding ends of the top of the second connecting block 44 are located between the two proximal phalanx connecting ears 42 of the middle finger mechanism 2; the third straight line The output end of the driving mechanism 32 is hinged with the two protruding ends of the bottom of the second connecting block 44 through a short pin. The two extension ends are interference fit, the output end of the third linear drive mechanism 32 is located between the two extension ends at the bottom of the second connection block 44, the third linear drive mechanism 32 is a linear drive motor, and the The output end is a linear motor push rod;

The output end of the third linear drive mechanism 32, the second connection block 44 and the proximal phalanx 5 of the middle finger mechanism 2 form a crank-slider mechanism. When the output end of the third linear drive mechanism 32 is retracted inward, it drives the The second connecting block 44 makes the proximal phalanx 5 of the middle finger mechanism 1 rotate toward the inner side of the palm of the palm, and due to the constraints of each mechanism, the middle finger-distal phalanx 6 of the middle finger mechanism 2 is made to revolve around the first phalanx installed on the middle finger mechanism 2. The two short pins 13 simultaneously rotate towards the inner side of the palm, so that the middle finger mechanism 2 completes the bending process of human fingers; The phalanx 5 and the middle finger-distal phalanx 6 do a rotational motion to the inside of the palm away from the palm, so that the middle finger mechanism 2 completes the straightening process of the human finger, wherein the bending range of the proximal phalanx 5 of the middle finger mechanism 2 is 0° to 90°.

As shown in FIG. 4 , the two proximal phalanx connecting ears 42 of the ring finger mechanism 3 are hinged with the two protruding ends of the top of the third connecting block 45 , and the two protruding ends of the top of the third connecting block 45 are located at the top of the ring finger mechanism 3 . between the two proximal phalanx connecting ears 42;

The two proximal phalanx connecting ears 42 of the little finger mechanism 4 are hinged with the two protruding ends of the top of the fourth connecting block 46 through a pin shaft 41, which is a gap between the two proximal phalanx connecting ears 42 of the little finger mechanism 4 It is an interference fit with the two protruding ends of the top of the fourth connecting block 46, the pin shaft 41 is hinged with the two protruding ends of the bottom of the third connecting block 45 at the same time, and the length of the third connecting block 45 is greater than that of the third connecting block 45. A length of the connecting block 43, the second connecting block 44 and the fourth connecting block 46, the two protruding ends of the top of the fourth connecting block 46 are located between the two proximal phalanx connecting ears 42 of the little finger mechanism 4; the fourth straight line The output end of the driving mechanism 33 is hinged with the two protruding ends of the bottom of the fourth connecting block 46 through a short pin, which is a clearance fit with the output end of the fourth linear driving mechanism The two protruding ends are interference fit, the output end of the fourth linear drive mechanism 33 is located between the two protruding ends at the bottom of the fourth connecting block 46, the fourth linear drive mechanism 33 is a linear drive motor, and the The output end is a linear motor push rod.

The output end of the fourth linear drive mechanism 33, the fourth connection block 46 and the proximal phalanx 5 of the little finger mechanism 4 form a crank-slider mechanism. When the output end of the fourth linear drive mechanism 33 is retracted inward, it drives the The fourth connecting block 46 makes the proximal phalanx 5 of the little finger mechanism 4 rotate toward the inside of the palm of the palm, and due to the constraints of each mechanism, the middle finger-distal phalanx 6 of the little finger mechanism 4 is made to revolve around the first phalanx installed on the little finger mechanism 4. The two short pins 13 simultaneously rotate toward the inner side of the palm, so that the little finger mechanism 4 completes the bending process of human fingers. At the same time, as shown in FIG. The pin shaft 41 is connected, so when the little finger mechanism 4 is bent, the proximal phalanx 5 and the middle finger-distal phalanx 6 of the ring finger mechanism 3 will also rotate to the inside of the palm of the palm at the same time, so that the ring finger mechanism 3 completes the imitation of human fingers. Bending process; when the output end of the fourth linear drive mechanism 33 is extended outward, the proximal phalanx 5 and the middle finger-distal phalanx 6 of the little finger mechanism 4 will be rotated to the inside of the palm away from the palm, and at the same time , the proximal phalanx 5 and the middle finger-distal phalanx 6 of the ring finger mechanism 3 also rotate towards the inner side of the palm away from the palm, so that the ring finger mechanism 3 and the little finger mechanism 4 complete the straightening process of the human fingers, thus realizing the ring finger and The coordinated movement of the little finger, wherein the bending range of the proximal phalanx 5 of the ring finger mechanism 3 and the proximal phalanx 5 of the little finger mechanism 4 is both 0° to 90°.

As shown in Figure 11, the prosthetic hand sensing mechanism in the present invention can make corresponding gesture actions according to the gesture recognition results recognized by the cloud host computer. The user wears the EMG signal acquisition device on the user's forearm. When the user wants to When making gestures with hands, such as grasping, making a fist or straightening, the user's forearm muscles will generate corresponding EMG signals, and the EMG signal acquisition device will generate the forearm muscles. The cloud host computer receives the EMG signal collected by the EMG signal acquisition device, and the cloud host computer stores the mapping relationship between the EMG signal data and the gesture recognition results. The EMG signal collected by the acquisition device, as well as the mapping relationship between the EMG signal data stored in it and the gesture action recognition result, can identify the gesture action recognition result, and send the gesture action recognition result to the printed circuit board of the prosthetic hand perception mechanism ;

The printed circuit board of the prosthetic hand perception mechanism is integrated with a main controller module, a drive module and a data communication module, wherein the data communication module is used to receive the gesture action recognition result recognized by the cloud host computer, and the gesture action is pre-stored in the main controller module The corresponding relationship between the recognition result and the control signal, and the corresponding control signal is obtained according to the gesture action recognition result received by the data communication module, and the corresponding control signal is sent to the driving module, and the driving module is used according to the control signal sent by the main controller module. Control the movement of the rotary drive mechanism and the four linear drive mechanisms respectively. In the present invention, the drive module includes five motor drive units, and the five motor drive units drive the first linear drive mechanism 30, the second linear drive mechanism 31, the third The linear driving mechanism 32 , the fourth linear driving mechanism 33 and the rotating mechanism move, so that the long finger and the thumb make gesture actions.

For example, after the user puts on the EMG signal acquisition device, and wants to grab the action by hand, the EMG signal acquisition device collects the EMG signal at this time and sends it to the cloud host computer. The mapping relationship between the EMG signal data and the gesture action recognition result, the gesture action recognition result is grasped, and the gesture action recognition result is sent to the prosthetic hand sensing mechanism, and the main controller module of the prosthetic hand sensing mechanism is based on the gesture action recognition result and The corresponding relationship between the control signals is sent to the drive module, so that the drive module controls the movement of the rotary drive mechanism and the four linear drive mechanisms, and finally makes the long finger and thumb make a grasping gesture.

The main controller module can use a 32-bit ARM architecture Cortex-M3 core microprocessor, the data communication module can use a WiFi module model ESP8266, and the motor drive unit can use a motor drive unit model DRV2667.

In the present invention, as shown in FIG. 9 , a contact pressure sensor 47 can be installed in the middle finger-distal phalanx 6 of each long-finger mechanism, and a contact pressure sensor 47 can be installed in the thumb distal phalanx 20 of the thumb Sensors 47, each contact pressure sensor 47 is electrically connected to the main controller module through a wire 49, so that when the prosthetic hand sensing mechanism is used to grasp an object, the middle finger-distal knuckle 6 of each long finger mechanism can be detected in real time. The pressure, as well as the pressure on the distal phalanx 20 of the thumb, are fed back to the main controller module. If the middle finger-distal phalanx 6 of the long finger mechanism or the distal phalanx 20 of the thumb is under too much pressure, the control can be sent through the main controller module. The signal is sent to the driving module, and the driving module drives the middle finger-distal phalanx 6 and proximal phalanx 5 of the long finger mechanism, or the proximal phalanx 19 and distal phalanx 20 of the thumb of the thumb to move, so as to reduce the grasping force until The detected pressure on the middle finger-distal phalanx 6 of each long finger mechanism and the pressure on the distal phalanx 20 of the thumb are within a reasonable range, avoiding excessive pressure on the middle finger-distal phalanx 6 or the distal phalanx 20 of the thumb. If the pressure is too large to cause damage, or the pressure is too large to cause damage to the object to be grasped, the contact pressure sensor 47 can be a pressure sensor of the HoneywellFSS series; in the present invention, the first connecting piece 8 of each long finger mechanism A strain load cell 48 is installed on the upper part, and a strain load cell 48 is installed on the second connecting piece 22 of the thumb, and each strain load cell 48 is electrically connected with the main controller module through a wire 49, which is used as a grabbing action. When the first connector 8 and the second connector 22 are in contact with the object being grasped, and generate strain, the strain load sensor 48 can measure the force of the first connector 8 and the second connector 22 If the pressure detected by the strain force sensor 48 is too large, a control signal can be sent to the drive module through the main controller module, and the middle finger of the long finger mechanism can be driven by the drive module- The distal phalanx 6 and proximal phalanx 5, or the thumb proximal phalanx 19 and the thumb distal phalanx 20 of the thumb are moved to reduce the grasping force, and the contact pressure sensor 47 and the strain load sensor 48 are used as the prosthetic hand sensing mechanism. The sensor module finally realizes the coordinated and stable control of the long finger and the thumb of the prosthetic hand sensing mechanism. By installing the contact pressure sensor 47 and the strain force sensor 48, the prosthetic hand sensing mechanism can reflect the force and tactile information of each finger, and realize the user Presence when operating the prosthetic hand perception mechanism.

In the present invention, the sensor module may further include a current sensing module, the current sensing module is integrated on the printed circuit board, and the current sensing module is electrically connected with the five motor drive units for monitoring the four linear drive motors and the rotary motor 35 The current sensing module can also be electrically connected with the power management module on the printed circuit board to monitor the total current of the circuit; a near field communication module can also be integrated on the printed circuit board, when the prosthetic hand sensing mechanism is close to the same sticker When objects with near field communication chips are in close proximity to each other, data interaction can be performed. For example, near field communication chips can be installed on objects that need to be grasped. When the prosthetic hand is within the range, the prosthetic hand can automatically improve the state between the fingers, making the prosthetic hand easier and faster to complete the grasping action.

The artificial hand sensing mechanism in the present invention can make corresponding gesture actions according to the gesture action recognition result recognized by the cloud host computer. The artificial hand sensing mechanism is a humanoid multi-free vacation hand with sensing function, so it can be applied to industrial As an industrial robot, or as a service robot, or as a prosthetic limb to enable the disabled to make corresponding gestures, it can also be applied to fields that require manipulators such as hazardous environment surveys, disaster rescue devices and national defense equipment. For the prosthetic hand mechanism, the prosthetic hand sensing mechanism in the present invention can establish an interactive relationship with the user, and the use is more dexterous; the prosthetic hand sensing mechanism can be manufactured by 3D printing, and the cost is low; the thumb can not only realize the bending action, At the same time, it can also realize the rotation action, which is closer to the actual hand movement and is more dexterous; the thumb is rotated through the gear meshing mechanism, which can reduce the hysteresis during the rotation of the thumb, and the control precision is higher; the long finger and the palm The part is connected by a wedge-shaped structure, which makes the connection structure more stable and tight; the prosthetic hand sensing mechanism has a simple structure and is easy to assemble, which not only reduces the assembly complexity, but also ensures the flexibility of the prosthetic hand sensing mechanism.

Example 2

This embodiment provides a prosthetic hand perception system supporting cloud fusion, and the prosthetic hand perception system supporting cloud fusion includes an EMG signal acquisition device, a cloud host computer, and the artificial hand perception mechanism in Embodiment 1;

The electromyographic signal acquisition device is used to wear on the user's forearm to collect the electromyographic signal generated by the user's forearm muscle group; the electromyographic signal acquisition device can be directly purchased on the market, for example, it can be produced by ThalmicLab. EMG signal acquisition equipment with model MYO;

The cloud host computer is used to receive the EMG signal collected by the EMG signal acquisition equipment, and process the received EMG signal to obtain the gesture action recognition result; the cloud host computer stores the EMG signal data and the gesture action recognition result. Therefore, according to the EMG signal collected by the EMG signal acquisition device and the mapping relationship between the EMG signal data and the gesture action recognition result, the cloud host computer can identify the gesture action recognition result and send the gesture action recognition result to the prosthetic hand The printed circuit board of the sensing mechanism;

The prosthetic hand perception mechanism is used to receive the gesture action recognition results and make gesture actions according to the received gesture action recognition results; the prosthetic hand perception mechanism that supports cloud fusion is installed with a printed circuit board, and the main control is integrated on the printed circuit board controller module, driving module and data communication module, wherein, the data communication module is used to receive the gesture action recognition result recognized by the cloud host computer, and the main controller module pre-stores the corresponding relationship between the gesture action recognition result and the control signal, and according to the data communication The gesture action recognition result received by the module obtains the corresponding control signal, and the corresponding control signal is sent to the driving module, and the driving module is used to respectively control the rotation driving mechanism and the four The linear drive mechanism moves to make the long fingers and thumb make gesture actions.

The prosthetic hand perception system supporting cloud fusion in this embodiment collects the EMG signals generated by the user's forearm muscle group through the EMG signal collection device, and recognizes the gesture action recognition result through the cloud host computer, so that the user can perceive the user Therefore, it can be applied to the industrial field as an industrial robot, or as a service robot, or as a prosthetic limb to make the handicapped make corresponding gestures, It can also be applied to fields that require manipulators, such as dangerous environment surveys, disaster rescue devices and national defense equipment. Compared with the existing prosthetic hand mechanisms, the prosthetic hand sensing mechanism is a humanoid multi-free vacation hand with sensing function. The interactive relationship is established between users, and the use is more dexterous.

It will be understood by one of ordinary skill in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

The meaning of "connection" described in this application may be a direct connection between components or an indirect connection between components through other components.

Taking the above ideal embodiments according to the present invention as inspiration, and through the above description, relevant personnel can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (10)

1. A prosthetic hand perception mechanism supporting cloud fusion, characterized in that: the prosthetic hand perception mechanism supporting cloud fusion comprises a long finger, a thumb, four connection blocks, a palm and a printed circuit board; The long finger part includes four long finger mechanisms, namely the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism. A connecting piece, the proximal phalanx includes two long-finger side plates arranged oppositely and a long-finger back plate connecting the two long-finger side plates, the two long-finger side plates are hinged with the middle finger-distal phalanx, and the two long-finger side plates It is also hinged with the first metacarpophalangeal joint seat, one end of the first connecting piece is hinged with the middle finger-distal phalanx, and the other end is hinged with the first metacarpophalangeal joint seat, the first connecting piece and the two long finger side plates intersect, each The first metacarpophalangeal joint seat of the long finger mechanism is installed on the palm; The thumb part includes the proximal phalanx of the thumb, the distal phalanx of the thumb, the second metacarpophalangeal joint seat and the second connecting piece. The proximal phalanx of the thumb includes two oppositely arranged thumb side plates and a connecting plate connecting the two thumb side plates. One thumb side plate is hinged with the distal phalanx of the thumb, the two thumb side plates are also hinged with the second metacarpophalangeal joint seat, one end of the second connecting piece is hinged with the distal phalanx of the thumb, and the other end is hinged with the second metacarpophalangeal joint seat, The second connecting piece intersects with the two thumb side plates, and the second metacarpophalangeal joint seat is installed on the palm; The proximal phalanx of each long-finger mechanism is hinged with one of the connecting blocks, wherein the connecting block is hinged between the two long-finger side plates of the proximal phalanx, and the two long-finger side plates of the little finger mechanism are connected to the connecting block. The connecting block between the two long-finger side plates is hinged through a pin, which is simultaneously hinged with the connecting block between the two long-finger side plates of the ring finger mechanism; The palm includes a housing, a rotary drive mechanism and four linear drive mechanisms installed in the housing, and the four linear drive mechanisms are respectively a first linear drive mechanism, a second linear drive mechanism, a third linear drive mechanism and a fourth linear drive mechanism. Drive mechanism, the output end of the first linear drive mechanism is hinged with the distal phalanx of the thumb, the output end of the second linear drive mechanism is hinged with the connecting block hinged on the index finger mechanism, and the output end of the third linear drive mechanism is hinged is hinged with the connecting block hinged on the middle finger mechanism, the fourth linear drive mechanism is hinged with the connecting block hinged on the little finger mechanism, and the output end of the rotary drive mechanism is fixedly connected with the second metacarpophalangeal joint seat; The printed circuit board is installed in the housing, and the printed circuit board is integrated with a main controller module, a drive module and a data communication module. The data communication module is used to receive the gesture action recognition result recognized by the cloud host computer, and the main controller module It is used to send a control signal to the drive module according to the gesture action recognition result, and the drive module is used to control the movement of the rotary drive mechanism and the four linear drive mechanisms respectively according to the control signal sent by the main controller module, so that the long finger and the thumb make gestures action. 2. The prosthetic hand perception mechanism supporting cloud fusion according to claim 1, wherein the middle finger-distal knuckle of each described long finger mechanism comprises a profiling finger shell, and the left and right sides of the profiling finger shell are Extend two symmetrical distal phalanx connecting ears, two pairs of connecting shaft holes are arranged on the two symmetrical distal phalangeal connecting ears, and the pair of connecting shaft holes on one side of the finger belly of the profiling finger shell are the first pair of connection Shaft holes, a pair of connecting shaft holes on the side away from the finger belly of the profiling finger shell are the second pair of connecting shaft holes; Wherein, one end of the first connecting member of each long-finger mechanism is hinged with the first pair of connecting shaft holes of the long-finger mechanism through a first short pin, and the first connecting member of each long-finger mechanism is located on two sides of the long-finger mechanism. Between the connecting ears of the distal phalanx, the front ends of the two long-finger side plates of each long-finger mechanism are hinged with the second pair of connecting shaft holes of the long-finger mechanism through second short pins, and the two long-finger mechanism The finger side plate is located on the outside of the two distal phalanx connecting ears of the long finger mechanism. 3. The prosthetic hand sensing mechanism supporting cloud fusion according to claim 2, wherein the first metacarpophalangeal joint seat of each long finger mechanism comprises a base body, a first For the base connecting lugs, the second pair of base connecting lugs on the side of the base body are provided, the first pair of base connecting lugs are provided with a pair of connecting shaft holes, which are the third pair of connecting shaft holes, and the second pair of base connecting lugs There is also a pair of connecting shaft holes on it, which is the fourth pair of connecting shaft holes; Wherein, the other end of the first connecting member of each long-finger mechanism is hinged with the third pair of connecting shaft holes of the long-finger mechanism through a third short pin, and the first connecting member of each long-finger mechanism is located on the side of the long-finger mechanism. Between the first pair of base connecting ears, the ends of the two long-finger side plates of each long-finger mechanism are hinged with the fourth pair of connecting shaft holes of the long-finger mechanism through fourth short pins, and the two long-finger mechanism The long-finger side plate is located outside the second pair of base connecting ears of the long-finger mechanism. 4 . The prosthetic hand perception mechanism supporting cloud fusion according to claim 3 , wherein each of the two long finger side plates of each long finger mechanism protrudes a proximal phalanx connecting ear, and each long finger The proximal phalanx connecting ears on the side plate are all located between the front end and the end of the long finger side plate, the four connecting blocks are all H-shaped connecting blocks, and the four connecting blocks are the first connecting block, the first connecting block and the second connecting block respectively. Second connection block, third connection block and fourth connection block; The two proximal phalanx connecting ears of the index finger mechanism are hinged with the two protruding ends of the top of the first connecting block, and the two protruding ends of the top of the first connecting block are located between the two proximal phalanx connecting ears of the index finger mechanism , the output end of the second linear drive mechanism is hinged with the two extension ends at the bottom of the first connection block, and the output end of the second linear drive mechanism is located between the two extension ends at the bottom of the first connection block; The two proximal phalanx connecting ears of the middle finger mechanism are hinged with the two protruding ends of the top of the second connecting block, and the two protruding ends of the top of the second connecting block are located between the two proximal phalanx connecting ears of the middle finger mechanism , the output end of the third linear drive mechanism is hinged with the two extension ends at the bottom of the second connection block, and the output end of the third linear drive mechanism is located between the two extension ends at the bottom of the second connection block; The two proximal phalanx connecting ears of the ring finger mechanism are hinged with the two protruding ends of the top of the third connecting block, and the two protruding ends of the top of the third connecting block are located between the two proximal phalanx connecting ears of the ring finger mechanism ; The two proximal phalanx connecting ears of the little finger mechanism are hinged with the two protruding ends of the top of the fourth connecting block through the pin shaft, and the pin shaft is simultaneously connected to the two protruding ends of the bottom of the third connecting block. hinged, the two protruding ends of the top of the fourth connecting block are located between the two proximal phalangeal connecting ears of the little finger mechanism, and the output end of the fourth linear drive mechanism is hinged with the two protruding ends of the bottom of the fourth connecting block , the output end of the fourth linear drive mechanism is located between the two protruding ends of the bottom of the fourth connecting block. 5. The prosthetic hand perception mechanism supporting cloud fusion according to claim 1, wherein the first linear drive mechanism, the second linear drive mechanism, the third linear drive mechanism and the fourth linear drive mechanism The linear drive mechanisms are all linear motors. 6. The prosthetic hand perception mechanism supporting cloud fusion according to claim 1, wherein the rotation driving mechanism comprises a rotating motor, a first gear, a second gear and a rotating shaft; The rotating electrical machine is installed in the housing, the output shaft of the rotating electrical machine is fixedly connected with the first gear, the first gear is meshed with the second gear, and one end of the rotating shaft is fixed at the center of the second gear; The bottom of the second metacarpophalangeal joint seat is provided with two connecting platforms, and the rotating shaft passes through the two connecting platforms and can drive the second metacarpophalangeal joint seat to rotate together. 7. The prosthetic hand perception mechanism supporting cloud fusion according to claim 1, wherein the housing comprises a back shell, a palm shell and a palm base; The palm base is located between the back shell and the palm shell, the palm shell is buckled on one side of the palm base, and the palm shell is buckled on the other side of the palm base; The printed circuit board is installed on the side of the palm base close to the shell of the back of the hand, and the rotary drive mechanism and the four linear drive mechanisms are installed on the side of the palm base close to the shell of the palm center; The top of the palm base is provided with four wedge-shaped grooves, the first metacarpophalangeal joint seat of each long-finger mechanism corresponds to a wedge-shaped groove, and the bottom of the first metacarpophalangeal joint seat of each long-finger mechanism is provided with a wedge-shaped groove. Wedge-shaped block, the wedge-shaped block of each first metacarpophalangeal joint seat is installed in its corresponding wedge-shaped groove. 8 . The prosthetic hand sensing mechanism supporting cloud fusion according to claim 1 , wherein a contact pressure sensor is installed in the middle finger-distal phalanx of each long-finger mechanism, and the thumb of the thumb is farther away. 9 . A contact pressure sensor is installed in the knuckle, and each of the contact pressure sensors is electrically connected to the main controller module. 9 . The prosthetic hand sensing mechanism supporting cloud fusion according to claim 1 , wherein: a strain force sensor is installed on the first connector of each long-finger mechanism, and the second connection of the thumb A strain load cell is mounted on the piece, and each strain load cell is electrically connected to the main controller module. 10. A prosthetic hand perception system supporting cloud fusion, characterized in that the prosthetic hand perception system supporting cloud fusion comprises an electromyographic signal acquisition device, a cloud host computer, and the prosthetic hand described in any one of claims 1 to 9 perception agency; The electromyographic signal acquisition device is used to wear on the user's forearm to collect the electromyographic signal generated by the user's forearm muscle group; The cloud host computer is used to receive the EMG signal collected by the EMG signal acquisition device, and process the received EMG signal to obtain the gesture action recognition result; The prosthetic hand perception mechanism is used for receiving the gesture action recognition result, and making a gesture action according to the received gesture action recognition result.

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