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

Abstract

The invention relates to a prosthetic hand sensing mechanism and system supporting cloud fusion, and belongs to the technical field of bionic prosthetic hands. The artificial hand sensing mechanism comprises a long finger part, a thumb part, four connecting blocks, a palm part and a printed circuit board; the long finger part comprises four long finger mechanisms, namely a forefinger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism, wherein each long finger mechanism comprises a proximal knuckle, a middle finger-distal knuckle, a first metacarpophalangeal joint seat and a first connecting piece; the thumb part comprises a thumb proximal knuckle, a thumb distal knuckle, a second metacarpophalangeal joint seat and a second connecting piece; the near knuckle of each long finger mechanism is hinged with a connecting block; the palm part comprises a shell, a rotary driving mechanism and four linear driving mechanisms, wherein the rotary driving mechanism and the four linear driving mechanisms are arranged in the shell; the printed circuit board is arranged in the shell and is integrated with a main controller module, a driving module and a data communication module. This artificial hand perception mechanism can make corresponding gesture action according to the gesture action recognition result of high in the clouds host computer discernment.

Description

Artificial hand sensing mechanism and system supporting cloud fusion

Technical Field

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

Background

The research of the artificial limb can be applied to a plurality of fields such as high-end medical equipment, an integrated electromechanical intelligent robot, dangerous environment exploration, disaster relief equipment, national defense equipment, and rehabilitation engineering training for assisting the disabled, the scientific and technical achievements of the artificial limb can be radiated, and the artificial limb has important strategic significance.

With the continuous progress of the robot technology, the industrial robots and the service robots are more and more frequently in the age of the visual field of common consumers, so far, the hand structures of the humanoid robots based on single degree of freedom are mature, but the design and the control of the multi-degree-of-freedom dexterous artificial hand are still very lacking.

Disclosure of Invention

In order to solve the problem that a multi-degree-of-freedom dexterous artificial hand in the prior art is still quite lack, on one hand, the invention provides a cloud-end fusion supporting artificial hand sensing mechanism, which comprises a long finger part, a thumb part, four connecting blocks, a palm part and a printed circuit board;

the long finger part comprises four long finger mechanisms which are respectively a forefinger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism, each long finger mechanism comprises a near finger joint, a middle finger-far finger joint, a first metacarpophalangeal joint seat and a first connecting piece, the near finger joint comprises two long finger side plates which are oppositely arranged and a long finger back plate which is connected with the two long finger side plates, the two long finger side plates are hinged with the middle finger-far finger joint, the two long finger side plates are also hinged with the first metacarpophalangeal joint seat, one end of the first connecting piece is hinged with the middle finger-far finger joint, the other end of the first connecting piece is hinged with the first metacarpophalangeal joint seat, the first connecting piece and the two long finger side plates are crossed, and the first metacarpophalangeal joint seat of each long finger mechanism is arranged on the palm;

the thumb part comprises a thumb proximal knuckle, a thumb distal knuckle, a second metacarpophalangeal joint seat and a second connecting piece, the thumb proximal knuckle comprises two thumb side plates which are oppositely arranged and a connecting plate which is connected with the two thumb side plates, the two thumb side plates are hinged with the thumb distal knuckle, 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 thumb distal knuckle, the other end of the second connecting piece is hinged with the second metacarpophalangeal joint seat, the second connecting piece and the two thumb side plates are crossed, and the second metacarpophalangeal joint seat is arranged on the palm part;

the near knuckle of each long finger mechanism is hinged with one connecting block, the connecting blocks are hinged between two long finger side plates of the near knuckle, the two long finger side plates of the little finger mechanism are hinged with the connecting blocks between the two long finger side plates through a pin shaft, and the pin shaft is hinged with the connecting blocks between the two long finger side plates of the ring finger mechanism;

the palm part comprises a shell, and a rotary driving mechanism and four linear driving mechanisms which are arranged in the shell, wherein the four linear driving mechanisms are respectively a first linear driving mechanism, a second linear driving mechanism, a third linear driving mechanism and a fourth linear driving mechanism, the output end of the first linear driving mechanism is hinged with the far knuckle of the thumb, the output end of the second linear driving mechanism is hinged with a connecting block hinged on the index finger mechanism, the output end of the third linear driving mechanism is hinged with a connecting block hinged on the middle finger mechanism, the fourth linear driving mechanism is hinged with a connecting block hinged on the little finger mechanism, and the output end of the rotary driving mechanism is fixedly connected with the second metacarpophalangeal joint seat;

printed circuit board installs in the casing, the last integration of printed circuit board has main controller module, drive module and data communication module, and data communication module is used for receiving the gesture action recognition result of high in the clouds host computer discernment, and main controller module is used for sending control signal for drive module according to gesture action recognition result, and drive module is used for controlling rotary drive mechanism and four sharp actuating mechanism motions respectively according to the control signal that main controller module sent, makes long finger portion and thumb portion make the gesture action.

The middle finger-far finger joint of each long finger mechanism comprises a profiling finger shell, two symmetrical far finger joint lugs extend out of the left side and the right side of the profiling finger shell, two pairs of connecting shaft holes are arranged on the two symmetrical far finger joint lugs, a pair of connecting shaft holes close to one side of a finger belly of the profiling finger shell are a first pair of connecting shaft holes, and a pair of connecting shaft holes far away from one side of the finger belly of the profiling finger shell are a second pair of connecting shaft holes;

one end of a first connecting piece of each long finger mechanism is hinged to a first pair of connecting shaft holes of the long finger mechanism through a first short pin, the first connecting piece of each long finger mechanism is located between two far finger knuckle connecting lugs of the long finger mechanism, the front ends of two long finger side plates of each long finger mechanism are hinged to a second pair of connecting shaft holes of the long finger mechanism through second short pins, and the two long finger side plates of each long finger mechanism are located on the outer sides of the two far finger knuckle connecting lugs of the long finger mechanism.

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

the other end of the first connecting piece of each long finger mechanism is hinged to a third pair of connecting shaft holes of the long finger mechanism through a third short pin, the first connecting piece of each long finger mechanism is located between a first pair of base connecting lugs of the long finger mechanism, the tail ends of two long finger side plates of each long finger mechanism are hinged to a fourth pair of connecting shaft holes of the long finger mechanism through a fourth short pin, and the two long finger side plates of each long finger mechanism are located on the outer sides of a second pair of base connecting lugs of the long finger mechanism.

A near knuckle connecting lug extends out of each of two long finger side plates of each long finger mechanism, the near knuckle connecting lug on each long finger side plate is located between the front end and the tail end of the long finger side plate, the four connecting blocks are H-shaped connecting blocks, and the four connecting blocks are respectively a first connecting block, a second connecting block, a third connecting block and a fourth connecting block;

the two near knuckle connecting lugs of the index finger mechanism are hinged with the two extending ends at the top of the first connecting block, the two extending ends at the top of the first connecting block are positioned between the two near knuckle connecting lugs of the index finger mechanism, the output end of the second linear driving mechanism is hinged with the two extending ends at the bottom of the first connecting block, and the output end of the second linear driving mechanism is positioned between the two extending ends at the bottom of the first connecting block;

the two near knuckle connecting lugs of the middle finger mechanism are hinged with the two extending ends at the top of the second connecting block, the two extending ends at the top of the second connecting block are positioned between the two near knuckle connecting lugs of the middle finger mechanism, the output end of the third linear driving mechanism is hinged with the two extending ends at the bottom of the second connecting block, and the output end of the third linear driving mechanism is positioned between the two extending ends at the bottom of the second connecting block;

two near knuckle connecting lugs of the ring finger mechanism are hinged with two extending ends at the top of a third connecting block, and the two extending ends at the top of the third connecting block are positioned between the two near knuckle connecting lugs of the ring finger mechanism;

two near knuckle engaging lugs of little finger mechanism and two of fourth connecting block top stretch out the end and pass through the round pin axle is articulated, the round pin axle simultaneously with two of third connecting block bottom stretch out the end and articulate, and two of fourth connecting block top stretch out the end and are located between two near knuckle engaging lugs of little finger mechanism, the output of fourth linear drive mechanism and two of fourth connecting block bottom stretch out the end and articulate, and the output of fourth linear drive mechanism is located between two of fourth connecting block bottom stretch out the end.

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

The rotary driving mechanism comprises a rotary motor, a first gear, a second gear and a rotating shaft;

the rotating motor is arranged in the shell, an output shaft of the rotating motor is fixedly connected with a first gear, the first gear is meshed with a second gear, and one end of the rotating shaft is fixed at the center of the second gear;

the bottom of second metacarpophalangeal joint seat is equipped with two and connects the platform, the pivot passes two and connects the platform, and can drive the second metacarpophalangeal joint seat rotates together.

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

the palm base is positioned between the palm back shell and the palm center shell, the palm center shell is buckled and pressed on one side surface of the palm base, and the palm center shell is buckled and pressed on the other side surface of the palm base;

the printed circuit board is arranged on the side surface of the palm base close to the back of the hand shell, and the rotary driving mechanism and the four linear driving mechanisms are arranged on the side surface of the palm base close to the palm shell;

the top of palm base is equipped with four wedge grooves, every long finger mechanism's first metacarpophalangeal joint seat corresponds a wedge groove, every long finger mechanism's first metacarpophalangeal joint seat bottom all is equipped with a wedge, and the wedge of every first metacarpophalangeal joint seat is installed in the wedge groove rather than corresponding.

And a contact pressure sensor is arranged in the middle finger-distal knuckle of each long finger mechanism, a contact pressure sensor is arranged in the thumb distal knuckle of the thumb part, and each contact pressure sensor is electrically connected with the main controller module.

And each strain force measuring sensor is arranged on the first connecting piece of each long finger mechanism, each strain force measuring sensor is arranged on the second connecting piece of the thumb part, and each strain force measuring sensor is electrically connected with the main controller module.

On the other hand, the invention provides a cloud-end fusion-supporting artificial hand perception system, which comprises an electromyographic signal acquisition device, a cloud-end upper computer and an artificial hand perception mechanism;

the electromyographic signal acquisition equipment is worn on the forearm of the user and is used for acquiring the electromyographic signal generated by the forearm muscle group of the user;

the cloud end upper computer is used for receiving the electromyographic signals collected by the electromyographic signal collecting equipment and processing the received electromyographic signals to obtain gesture action recognition results;

and the artificial hand sensing 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 technical scheme, compared with the prior art, the invention has the following beneficial effects:

the artificial hand sensing mechanism can make corresponding gesture actions according to gesture action recognition results recognized by a cloud upper computer, is an anthropomorphic multi-degree-of-freedom artificial hand with a sensing function, can reflect force touch information of fingers, and realizes the presence of a user when operating the artificial hand sensing mechanism, so that the artificial hand sensing mechanism can be applied to the industrial field as an industrial robot, or as a service robot, or as an artificial limb to enable a disabled person to make corresponding gesture actions, and can also be applied to the fields needing mechanical arms such as dangerous environment exploration, disaster relief devices, national defense equipment and the like, and compared with the existing artificial hand sensing mechanism, the artificial hand sensing mechanism can establish an interactive relationship with the user, and is more flexible to use; the artificial hand sensing mechanism can be manufactured in a 3D printing mode, and the cost is low; the thumb part can realize bending action and rotation action, and is closer to actual hand movement and more flexible; the thumb part rotates through the gear meshing mechanism, so that the return difference of the thumb part in the rotating process can be reduced, and the control precision is higher; the long finger part and the palm part are connected in a wedge-shaped structure, so that the connecting structure is more stable and compact; the artificial hand sensing mechanism is simple in structure and convenient to assemble, assembly complexity is reduced, and flexibility of the artificial hand sensing mechanism is guaranteed.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of a prosthetic hand sensing mechanism of the present invention;

FIG. 2 is a schematic view of the internal structure of the artificial hand sensing mechanism of the present invention;

FIG. 3 is a schematic view of the connection between the index finger mechanism and the first linear drive mechanism of the present invention;

FIG. 4 is a schematic view of the connection structure of the ring finger mechanism, the little finger mechanism and the fourth linear driving mechanism of the present invention;

FIG. 5 is a schematic structural view of the proximal knuckle of each long finger mechanism of the present invention;

FIG. 6 is a partial schematic view of the thumb mechanism of the present invention;

FIG. 7 is a schematic diagram of the structure of the proximal knuckle of the thumb of the present invention;

FIG. 8 is a schematic view of a first metacarpophalangeal joint seat according to the invention;

FIG. 9 is a schematic view of the mounting location of the contact pressure sensor of the present invention;

FIG. 10 is a schematic view of the mounting location of the strain load cell of the present invention;

fig. 11 is a working schematic diagram of the artificial hand perception system supporting cloud fusion according to the present invention.

In the figure:

1 index finger mechanism, 2 middle finger mechanism, 3 ring finger mechanism, 4 little finger mechanism, 5 proximal knuckles, 6 middle-distal knuckles, 7 first metacarpophalangeal joint seat, 8 first connecting piece, 9 long finger side plate, 10 long finger back plate, 11 distal knuckle connecting ear, 12 first short pin, 13 second short pin, 14 base body, 15 first pair of base connecting ears, 16 second pair of base connecting ears, 17 third short pin, 18 fourth short pin, 19 thumb proximal knuckle, 20 thumb distal knuckle, 21 second metacarpophalangeal joint seat, 22 second connecting piece, 23 thumb side plate, 24 connecting plate, 25 shell, 26 dorsal shell, 27 palmar shell, 28 palmar base, 29 block, 30 first linear driving mechanism, 31 second linear driving mechanism, 32 third linear driving mechanism, 33 fourth linear driving mechanism, 34 hollow circular table, 35 rotary motor, 36 first gear, 37 second wedge-shaped gear, 38 connecting tables, 39 fixing seats with holes, 40 grooves, 41 pin shafts, 42 near knuckle connecting lugs, 43 a first connecting block, 44 a second connecting block, 45 a third connecting block, 46 a fourth connecting block, 47 a contact pressure sensor, 48 a strain force sensor and 49 wires.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

Example 1

As shown in fig. 1 to 11, the embodiment provides a cloud-end fusion-supporting prosthetic hand sensing mechanism, which includes a long finger portion, a thumb portion, four connecting blocks, a palm portion and a printed circuit board;

the long finger part comprises four long finger mechanisms, namely a forefinger mechanism 1, a middle finger mechanism 2, a ring finger mechanism 3 and a little finger mechanism 4, wherein each long finger mechanism comprises a near knuckle 5, a middle finger-far knuckle 6, a first metacarpophalangeal joint seat 7 and a first connecting piece 8;

for each long finger mechanism, as shown in fig. 5, the proximal knuckle 5 includes two long finger side plates 9 arranged oppositely and a long finger back plate 10 connecting the two long finger side plates 9, and the two long finger side plates 9 and the long finger back plate 10 are integrally formed;

for each long finger mechanism, two long finger side plates 9 are hinged with the middle finger-far knuckle 6, the two long finger side plates 9 are also hinged with the first metacarpophalangeal joint seat 7, one end of a first connecting piece 8 is hinged with the middle finger-far knuckle 6, the other end of the first connecting piece 8 is hinged with the first metacarpophalangeal joint seat 7, the first connecting piece 8 and the two long finger side plates 9 are crossed, in the invention, the first connecting piece can be a connecting rod, and the first metacarpophalangeal joint seat 7 of each long finger mechanism is arranged on the palm part, and the specific hinging mode is as follows:

the middle finger-far finger joint 6 of each long finger mechanism comprises a profiling finger shell, the profiling finger shell simulates a middle finger joint and a far finger joint of a human hand, two symmetrical far finger joint lugs 11 extend out of the left side and the right side of the profiling finger shell, two pairs of connecting shaft holes are arranged on the two symmetrical far finger joint lugs 11, a pair of connecting shaft holes close to one side of a finger belly of the profiling finger shell is a first pair of connecting shaft holes, and a pair of connecting shaft holes far away from one side of the finger belly of the profiling finger shell is a second pair of connecting shaft holes;

as shown in fig. 2 and referring to fig. 3 and 4, one end of the first connecting piece 8 of each long finger mechanism is hinged to a first pair of connecting shaft holes of the long finger mechanism through a first short pin 12, the first connecting piece 8 of each long finger mechanism is located between two far knuckle connecting lugs 11 of the long finger mechanism, the first short pin 12 is in clearance fit with the first pair of connecting shaft holes, and the first short pin 12 is in interference fit with the first connecting piece 8;

as shown in fig. 2, and referring to fig. 3 and 4, the front ends of the two long finger side plates 9 of each long finger mechanism are hinged to the second pair of connecting shaft holes of the long finger mechanism through second short pins 13, the two long finger side plates 9 of each long finger mechanism are located outside the two distal knuckle connecting lugs 11 of the long finger mechanism, the second short pins 13 are in interference fit with the second pair of connecting shaft holes, and the second short pins 13 are in clearance 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 comprises a base body 14, a first pair of base connection lugs 15 arranged at the top of the base body 14, and a second pair of base connection lugs 16 arranged at the side of the base body 14, wherein the first pair of base connection lugs 15 are provided with a pair of connection shaft holes which are a third pair of connection shaft holes, and the second pair of base connection lugs 16 are also provided with a pair of connection shaft holes which are a fourth pair of connection shaft holes;

the other end of the first connecting piece 8 of each long finger mechanism is hinged with a third pair of connecting shaft holes of the long finger mechanism through a third short pin 17, the first connecting piece 8 of each long finger mechanism is positioned between the first pair of base connecting lugs 15 of the long finger mechanism, the third short pin 17 is in interference fit with the first connecting piece 8, the third short pin 17 is in clearance fit with the third pair of connecting shaft holes, and the third short pin 17 can refer to the index finger mechanism shown in fig. 3;

the tail ends of the two long finger side plates 9 of each long finger mechanism are hinged with a fourth pair of connecting shaft holes of the long finger mechanism through a fourth short pin 18, the two long finger side plates 9 of each long finger mechanism are positioned on the outer sides of a second pair of base connecting lugs 16 of the long finger mechanism, the fourth short pin 18 is in clearance fit with the tail ends of the two long finger side plates 9, the fourth short pin 18 is in interference fit with the fourth pair of connecting shaft holes, and the reference can be made to the forefinger mechanism shown in fig. 3.

As shown in fig. 1, the thumb part comprises a proximal thumb knuckle 19, a distal thumb knuckle 20, a second metacarpophalangeal joint seat 21 and a second connecting piece 22, as shown in fig. 7, the proximal thumb knuckle 19 comprises two thumb side plates 23 arranged oppositely and a connecting plate 24 connecting the two thumb side plates 23, the two thumb side plates 23 are hinged with the distal thumb knuckle 20, the two thumb side plates 23 are further hinged with the second metacarpophalangeal joint seat 21, as shown in fig. 6, one end of the thumb distal knuckle 20 of the second connecting piece 22 is hinged, the other end of the second connecting piece 22 is hinged with the second metacarpophalangeal joint seat 21, as shown in fig. 1, the second connecting piece 22 and the two thumb side plates 23 are crossed, and the second metacarpophalangeal joint seat 21 is arranged on the palm part.

The palm portion comprises a shell 25 and a rotary driving mechanism and four linear driving mechanisms which are arranged in the shell 25,

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

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

the first linear driving mechanism 30 is installed on the second metacarpophalangeal joint seat 21, the output end of the first linear driving mechanism 30 is hinged with the far knuckle 20 of the thumb, the first linear driving mechanism 30 can be a linear driving motor, the output end of the linear driving motor is a linear motor push rod, the tail end of the far knuckle 20 of the thumb is hinged with the second connecting piece 22, and the output end of the first linear driving mechanism 30 and the two thumb side plates 23 of the near knuckle 19 of the thumb are hinged between the fingertip and the tail end of the far knuckle 20 of the thumb through a pin;

when the output end of the first linear driving mechanism 30 retracts inwards, the thumb near knuckle 19 and the thumb far knuckle 20 are driven to move towards the side surface of the palm part at the same time, wherein the bending range of the thumb near knuckle 19 is 0-40 degrees, when the output end of the first linear driving mechanism 30 extends, the thumb near knuckle 19 and the thumb far knuckle 20 are driven to move towards the direction away from the palm part at the same time, the second connecting piece 22 also moves towards the direction away from the palm part, in order to limit the thumb near knuckle 19 and the thumb far knuckle 20, a hollow round table 34 is arranged on the second palm knuckle seat 21, when the second connecting piece 22 touches the hollow round table 34 in the process of moving towards the direction away from the palm part, the movement towards the direction away from the palm part cannot be continued, and therefore the thumb near knuckle 19 and the thumb far knuckle 20 cannot continue to move towards the direction away from the palm part, the proximal knuckle 19 and the distal knuckle 20 of the thumb are limited;

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

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

as shown in fig. 6, two connecting platforms 38 are disposed at the bottom of the second metacarpophalangeal joint seat 21, 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 fixing seats 39 with holes can be disposed in the palm base, the second metacarpophalangeal joint seat 21 is placed between the two fixing seats 39 with holes, and the rotating shaft passes through the two fixing seats 39 with holes and the two connecting platforms 38 at the bottom of the second metacarpophalangeal joint seat 21;

when the rotating motor 35 operates, the first gear 36 is driven to rotate, the first gear 36 drives the second gear 37 to rotate, the second gear 37 drives the second metacarpophalangeal joint seat 21 to rotate together through the rotating shaft, and further drives the thumb proximal knuckle 19 and the thumb distal knuckle 20 to rotate together, so that the rotation of the thumb is realized, the radius of the first gear 36 is smaller than that of the second gear 37, the rotation range of the thumb is 0-90 degrees, as shown in fig. 1, in order to avoid the interference of the palm shell 27 on the rotation of the thumb, a slot 40 is further arranged at the palm shell 27.

The near knuckle 5 of each long finger mechanism is hinged with a connecting block, wherein the connecting block is hinged between two long finger side plates 9 of the near knuckle 5, the two long finger side plates 9 of the little finger mechanism 4 are hinged with the connecting block between the two long finger side plates 9 through a pin shaft 41, and the pin shaft 41 is hinged with the connecting block between the two long finger side plates 9 of the ring finger mechanism 3;

the output end of the second linear driving mechanism 31 is hinged to the connecting block hinged to the index finger mechanism 1, the output end of the third linear driving mechanism 32 is hinged to the connecting block hinged to the middle finger mechanism 2, and the fourth linear driving mechanism 33 is hinged to the connecting block hinged to the little finger mechanism 4, wherein the specific hinging mode is as follows:

a near knuckle connecting lug 42 extends from each of the two long finger side plates 9 of each long finger mechanism, see the index finger mechanism 2 shown in fig. 3, the near knuckle connecting lug 42 on each long finger side plate 9 is located between the front end and the tail end of the long finger side plate 9, see fig. 2, the four connecting blocks are all H-shaped connecting blocks, two extending ends at the top of each H-shaped connecting block are used as a pair of connecting lugs, two extending ends at the bottom are also used as a pair of connecting lugs, two pairs of connecting lugs of each H-shaped connecting block are provided with pin holes, and the four connecting blocks are respectively a first connecting block 43, a second connecting block 44, a third connecting block 45 and a fourth connecting block 46;

referring to fig. 3, the two proximal knuckle connecting lugs 42 of the index finger mechanism 1 are hinged to the two extending ends of the top of the first connecting block 43 through a short pin, the short pin is in clearance fit with the two proximal knuckle connecting lugs 42 of the index finger mechanism 1 and is in interference fit with the two extending ends of the top of the first connecting block 43, and the two extending ends of the top of the first connecting block 43 are located between the two proximal knuckle connecting lugs 42 of the index finger mechanism 1; the output end of the second linear driving mechanism 31 is hinged with two extending ends at the bottom of the first connecting block 43 through a short pin, the short pin is in clearance fit with the output end of the second linear driving mechanism 31 and is in interference fit with the two extending ends at the bottom of the first connecting block 43, the output end of the second linear driving mechanism 31 is positioned between the two extending ends at the bottom of the first connecting block 43, the second linear driving mechanism 31 is a linear driving motor, and the output end of the linear driving motor is a linear motor push rod;

the output end of the second linear driving mechanism 31, the first connecting block 43 and the proximal knuckle 5 of the index finger mechanism 1 form a slider-crank mechanism, when the output end of the second linear driving mechanism 31 retracts inwards, the first connecting block 43 is driven to enable the proximal knuckle 5 of the index finger mechanism 1 to rotate towards the inner side of the palm center of the palm, and due to the constraint of each mechanism, the middle finger-distal knuckle 6 of the index finger mechanism 1 simultaneously rotates towards the inner side of the palm center of the palm around the second short pin 13 arranged on the index finger mechanism 1, so that the index finger mechanism 1 finishes the bending process of simulating the human fingers; when the output end of the second linear driving mechanism 31 extends outwards, the proximal knuckle 5 and the middle-distal knuckle 6 of the index finger mechanism 1 rotate towards the inner side of the palm far away from the palm part, so that the index finger mechanism 1 completes the straightening process of the human-simulated finger, wherein the bending range of the proximal knuckle 5 of the index finger mechanism 1 is 0-90 degrees.

The two near knuckle connecting lugs 42 of the middle finger mechanism 2 are hinged with the two extending ends at the top of the second connecting block 44 through a short pin, the short pin is in clearance fit with the two near knuckle connecting lugs 42 of the middle finger mechanism 2 and is in interference fit with the two extending ends at the top of the second connecting block 44, and the two extending ends at the top of the second connecting block 44 are positioned between the two near knuckle connecting lugs 42 of the middle finger mechanism 2; the output end of the third linear driving mechanism 32 is hinged with two extending ends at the bottom of the second connecting block 44 through a short pin, the short pin is in clearance fit with the output end of the third linear driving mechanism 32 and is in interference fit with the two extending ends at the bottom of the second connecting block 44, the output end of the third linear driving mechanism 32 is positioned between the two extending ends at the bottom of the second connecting block 44, the third linear driving mechanism 32 is a linear driving motor, and the output end of the linear driving motor is a linear motor push rod;

the output end of the third linear driving mechanism 32, the second connecting block 44 and the proximal knuckle 5 of the middle finger mechanism 2 form a slider-crank mechanism, when the output end of the third linear driving mechanism 32 retracts inwards, the second connecting block 44 is driven to enable the proximal knuckle 5 of the middle finger mechanism 1 to rotate towards the inner side of the palm, and due to the constraint of each mechanism, the middle finger-distal knuckle 6 of the middle finger mechanism 2 simultaneously rotates towards the inner side of the palm around the second short pin 13 arranged on the middle finger mechanism 2, so that the middle finger mechanism 2 finishes the bending process of simulating the human fingers; when the output end of the third linear driving mechanism 32 extends outwards, the proximal knuckle 5 and the middle-distal knuckle 6 of the middle finger mechanism 2 rotate towards the inner side of the palm far away from the palm part, so that the middle finger mechanism 2 finishes the straightening process of the human-simulated finger, wherein the bending range of the proximal knuckle 5 of the middle finger mechanism 2 is 0-90 degrees.

As shown in fig. 4, the two proximal knuckle connecting lugs 42 of the ring finger mechanism 3 are hinged to the two extending ends of the top of the third connecting block 45, and the two extending ends of the top of the third connecting block 45 are located between the two proximal knuckle connecting lugs 42 of the ring finger mechanism 3;

two near knuckle connecting lugs 42 of the little finger mechanism 4 are hinged with two extending ends at the top of a fourth connecting block 46 through a pin shaft 41, the pin shaft 41 is in clearance fit with the two near knuckle connecting lugs 42 of the little finger mechanism 4 and is in interference fit with the two extending ends at the top of the fourth connecting block 46, the pin shaft 41 is simultaneously hinged with the two extending ends at the bottom of the third connecting block 45, the length of the third connecting block 45 is greater than that of the first connecting block 43, the second connecting block 44 and the fourth connecting block 46, and the two extending ends at the top of the fourth connecting block 46 are positioned between the two near knuckle connecting lugs 42 of the little finger mechanism 4; the output end of the fourth linear driving mechanism 33 is hinged to two extending ends at the bottom of the fourth connecting block 46 through a short pin, the short pin is in clearance fit with the output end of the fourth linear driving mechanism 33 and is in interference fit with the two extending ends at the bottom of the fourth connecting block 46, the output end of the fourth linear driving mechanism 33 is located between the two extending ends at the bottom of the fourth connecting block 46, the fourth linear driving mechanism 33 is a linear driving motor, and the output end of the linear driving motor is a linear motor push rod.

The output end of the fourth linear driving mechanism 33, the fourth connecting block 46 and the proximal knuckle 5 of the little finger mechanism 4 form a slider-crank mechanism, when the output end of the fourth linear driving mechanism 33 retracts inwards, the fourth connecting block 46 is driven to make the proximal knuckle 5 of the little finger mechanism 4 rotate towards the inner side of the palm, due to the constraint of each mechanism, the middle finger-distal knuckle 6 of the little finger mechanism 4 rotates around the second short pin 13 arranged on the little finger mechanism 4 towards the inner side of the palm at the same time, so that the little finger mechanism 4 finishes the bending process of the human finger-like fingers, meanwhile, as shown in fig. 4, because the third connecting block 45 and the fourth connecting block 46 are connected through the pin shaft 41, when the little finger mechanism 4 bends, the proximal knuckle 5 and the middle finger-distal knuckle 6 of the ring finger mechanism 3 also rotate towards the inner side of the palm at the same time, the ring finger mechanism 3 finishes the bending process of the human finger; when the output end of the fourth linear driving mechanism 33 extends outwards, the near knuckle 5 and the middle-far knuckle 6 of the little finger mechanism 4 rotate towards the inner side of the palm far away from the palm, and meanwhile, the near knuckle 5 and the middle-far knuckle 6 of the ring finger mechanism 3 also rotate towards the inner side of the palm far away from the palm, so that the ring finger mechanism 3 and the little finger mechanism 4 complete the straightening process of the human finger, and the coordinated motion of the ring finger and the little finger is realized, wherein the bending ranges of the near knuckle 5 of the ring finger mechanism 3 and the near knuckle 5 of the little finger mechanism 4 are both 0-90 degrees.

As shown in fig. 11, the artificial hand sensing mechanism in the present invention can make corresponding gesture actions according to the gesture recognition result recognized by the cloud upper computer, the user wears the electromyographic signal acquisition device on the forearm of the user, when the user wants to make gesture actions with hands, such as grabbing, fist making, or straightening, the forearm muscle group of the user generates corresponding electromyographic signals, the electromyographic signal acquisition device acquires the electromyographic signals generated by the forearm muscle group, the cloud upper computer receives the electromyographic signals acquired by the electromyographic signal acquisition device, and the cloud upper computer stores the mapping relationship between the electromyographic signal data and the gesture recognition result, so that the cloud upper computer can make corresponding gesture actions according to the electromyographic signals acquired by the electromyographic signal acquisition device and the mapping relationship between the stored electromyographic signal data and the gesture recognition result, the gesture action recognition result can be recognized and sent to the printed circuit board of the fake hand sensing mechanism;

the printed circuit board of the artificial hand sensing mechanism is integrated with a main controller module, a driving module and a data communication module, wherein the data communication module is used for receiving a gesture action recognition result recognized by a cloud upper computer, the main controller module is pre-stored with a corresponding relation between the gesture action recognition result and a control signal, obtains a corresponding control signal according to the gesture action recognition result received by the data communication module and sends the corresponding control signal to the driving module, and the driving module is used for respectively controlling the rotation driving mechanism and the four linear driving mechanisms to move according to the control signal sent by the main controller module, the long finger and thumb are gestured.

For example, after a user wears the electromyographic signal acquisition equipment, the user wants to perform a grabbing action by hand, the electromyographic signal acquisition equipment acquires the electromyographic signal at the moment and sends the electromyographic signal to the cloud end upper computer, the cloud end upper computer obtains a gesture action recognition result according to the mapping relation between the electromyographic signal data stored in the cloud end upper computer and the gesture action recognition result, the gesture action recognition result is grabbed, the gesture action recognition result is sent to the fake hand sensing mechanism, the main controller module of the fake hand sensing mechanism sends a corresponding control signal to the driving module according to the corresponding relation between the gesture action recognition result and the control signal, the driving module controls the rotary driving mechanism and the four linear driving mechanisms to move, and finally the long finger part and the thumb part perform the grabbing gesture action.

The main controller module can adopt a 32-bit ARM architecture Cortex-M3 kernel microprocessor, the data communication module can adopt a WiFi module with the model of ESP8266, and the motor driving unit can adopt a motor driving unit with the model of DRV 2667.

In the present invention, as shown in fig. 9, a contact pressure sensor 47 may be installed in the middle-distal knuckle 6 of each long finger mechanism, a contact pressure sensor 47 is installed in the thumb distal knuckle 20 of the thumb portion, each contact pressure sensor 47 is electrically connected to the main controller module through a wire 49, so that when the fake hand sensing mechanism is used to grasp an object, the pressure applied to the middle-distal knuckle 6 of each long finger mechanism and the pressure applied to the thumb distal knuckle 20 can be detected in real time and fed back to the main controller module, if the pressure applied to the middle-distal knuckle 6 or the thumb distal knuckle 20 of the long finger mechanism is too large, a control signal can be sent to the driving module through the main controller module, the middle-distal knuckle 6 and the proximal knuckle 5 of the long finger mechanism, or the thumb proximal knuckle 19 and the thumb distal knuckle 20 of the thumb portion are driven by the driving module, the contact pressure sensor 47 can adopt a Honeywell FSS series pressure sensor, so as to reduce the gripping force until the detected pressure on the middle finger-far knuckle 6 and the detected pressure on the thumb far knuckle 20 of each long finger mechanism are in a reasonable range, and avoid the damage of the middle finger-far knuckle 6 or the thumb far knuckle 20 caused by overlarge pressure or the damage of the grabbed object caused by overlarge pressure; in the invention, a strain force sensor 48 can be arranged on the first connecting piece 8 of each long finger mechanism, a strain force sensor 48 is arranged on the second connecting piece 22 of the thumb part, each strain force sensor 48 is electrically connected with the main controller module through a lead 49, when a grabbing action is carried out, the first connecting piece 8 and the second connecting piece 22 can also be contacted with a grabbed object and generate strain, the magnitude of pressure applied to the first connecting piece 8 and the second connecting piece 22 can be measured through the strain force sensors 48, the measurement result is sent to the main controller module, if the pressure detected by the strain force sensors 48 is overlarge, a control signal can be sent to the driving module through the main controller module, the driving module drives the middle finger-far knuckle 6 and the near knuckle 5 of the long finger mechanism, or the near knuckle 19 of the thumb and the far knuckle 20 of the thumb to move, the contact pressure sensor 47 and the strain force sensor 48 are used as sensor modules of the artificial hand sensing mechanism to reduce the grabbing force, and finally, the long finger part and the thumb part of the artificial hand sensing mechanism are cooperatively and stably controlled.

The sensor module can also comprise a current sensing module, the current sensing module is integrated on the printed circuit board, the current sensing module is electrically connected with the five motor driving units and is used for monitoring the current of the four linear driving motors and the rotating motor 35, and the current sensing module can also be electrically connected with a power management module on the printed circuit board and is used for monitoring the total current of the circuit; the near field communication module can be integrated on the printed circuit board, when the artificial hand sensing mechanism is close to an object which is also stuck with the near field communication chip, data interaction can be carried out under the condition of being close to each other, for example, the near field communication chip can be installed on the object which needs to be grabbed, and when the distance between the artificial hand sensing mechanism and the object is within a certain range, the artificial hand can automatically improve the state between fingers to enable the artificial hand to more easily and quickly complete the grabbing action.

The artificial hand sensing mechanism can make corresponding gesture actions according to gesture action recognition results recognized by the cloud upper computer, and is an anthropomorphic multi-degree-of-freedom artificial hand with a sensing function, so that the artificial hand sensing mechanism can be applied to the industrial field as an industrial robot, or as a service robot, or as an artificial limb to enable a disabled person to make corresponding gesture actions, and can also be applied to the fields needing mechanical arms, such as dangerous environment exploration, disaster rescue devices, national defense equipment and the like, and compared with the existing artificial hand sensing mechanism, the artificial hand sensing mechanism can establish an interactive relationship with a user and is more flexible to use; the artificial hand sensing mechanism can be manufactured in a 3D printing mode, and the cost is low; the thumb part can realize bending action and rotation action, and is closer to actual hand movement and more flexible; the thumb part rotates through the gear meshing mechanism, so that the return difference of the thumb part in the rotating process can be reduced, and the control precision is higher; the long finger part and the palm part are connected in a wedge-shaped structure, so that the connecting structure is more stable and compact; the artificial hand sensing mechanism is simple in structure and convenient to assemble, assembly complexity is reduced, and flexibility of the artificial hand sensing mechanism is guaranteed.

Example 2

The embodiment provides a cloud-end fusion-supporting artificial hand perception system, which comprises an electromyographic signal acquisition device, a cloud-end upper computer and an artificial hand perception mechanism in the embodiment 1;

the electromyographic signal acquisition equipment is worn on the forearm of the user and is used for acquiring the electromyographic signal generated by the forearm muscle group of the user; the electromyographic signal acquisition equipment can be directly purchased from the market, for example, the electromyographic signal acquisition equipment with the model of MYO produced by Thalmiclab company can be adopted;

the cloud end upper computer is used for receiving the electromyographic signals collected by the electromyographic signal collecting equipment and processing the received electromyographic signals to obtain gesture action recognition results; the cloud upper computer stores the mapping relation between the electromyographic signal data and the gesture recognition result, so that the cloud upper computer can recognize the gesture recognition result according to the electromyographic signal acquired by the electromyographic signal acquisition device and the mapping relation between the electromyographic signal data and the gesture recognition result, and sends the gesture recognition result to the printed circuit board of the fake hand sensing mechanism;

the artificial hand sensing mechanism is used for receiving the gesture action recognition result and making a gesture action according to the received gesture action recognition result; support and install printed circuit board in the false hand perception mechanism that high in the clouds fuses, the integration has main control unit module on the printed circuit board, drive module and data communication module, wherein, data communication module is used for receiving the gesture action recognition result of high in the clouds host computer discernment, the corresponding relation of gesture action recognition result and control signal is prestored in the main control unit module, and obtain corresponding control signal according to the gesture action recognition result that data communication module received, and give drive module with corresponding control signal transmission, drive module is used for the control signal according to main control unit module transmission, the rotary driving mechanism and the motion of four sharp actuating mechanism of control false hand perception mechanism respectively, make long finger portion and thumb portion make the gesture action.

The artificial hand perception system supporting cloud integration in the embodiment collects myoelectric signals generated by forearm muscle groups of a user through myoelectric signal collection equipment, recognizes gesture action recognition results through a cloud upper computer, can perceive gesture action intentions of the user and makes corresponding gesture actions through an artificial hand perception mechanism, and therefore, the artificial hand perception system can be applied to the fields of industrial robots, service robots, artificial limbs and the like, wherein the fields need mechanical arms, such as disabled people make corresponding gesture actions, dangerous environment exploration, disaster relief devices, national defense equipment and the like.

It will be understood by those skilled 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 will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (10)

1. The utility model provides a support artificial hand perception mechanism that high in clouds fuses which characterized in that: the artificial hand sensing mechanism supporting cloud fusion comprises a long finger part, a thumb part, four connecting blocks, a palm part and a printed circuit board;

the long finger part comprises four long finger mechanisms which are respectively a forefinger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism, each long finger mechanism comprises a near finger joint, a middle finger-far finger joint, a first metacarpophalangeal joint seat and a first connecting piece, the near finger joint comprises two long finger side plates which are oppositely arranged and a long finger back plate which is connected with the two long finger side plates, the two long finger side plates are hinged with the middle finger-far finger joint, the two long finger side plates are also hinged with the first metacarpophalangeal joint seat, one end of the first connecting piece is hinged with the middle finger-far finger joint, the other end of the first connecting piece is hinged with the first metacarpophalangeal joint seat, the first connecting piece and the two long finger side plates are crossed, and the first metacarpophalangeal joint seat of each long finger mechanism is arranged on the palm;

the thumb part comprises a thumb proximal knuckle, a thumb distal knuckle, a second metacarpophalangeal joint seat and a second connecting piece, the thumb proximal knuckle comprises two thumb side plates which are oppositely arranged and a connecting plate which is connected with the two thumb side plates, the two thumb side plates are hinged with the thumb distal knuckle, 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 thumb distal knuckle, the other end of the second connecting piece is hinged with the second metacarpophalangeal joint seat, the second connecting piece and the two thumb side plates are crossed, and the second metacarpophalangeal joint seat is arranged on the palm part;

the near knuckle of each long finger mechanism is hinged with one connecting block, the connecting blocks are hinged between two long finger side plates of the near knuckle, the two long finger side plates of the little finger mechanism are hinged with the connecting blocks between the two long finger side plates through a pin shaft, and the pin shaft is hinged with the connecting blocks between the two long finger side plates of the ring finger mechanism;

the palm part comprises a shell, and a rotary driving mechanism and four linear driving mechanisms which are arranged in the shell, wherein the four linear driving mechanisms are respectively a first linear driving mechanism, a second linear driving mechanism, a third linear driving mechanism and a fourth linear driving mechanism, the output end of the first linear driving mechanism is hinged with the far knuckle of the thumb, the output end of the second linear driving mechanism is hinged with a connecting block hinged on the index finger mechanism, the output end of the third linear driving mechanism is hinged with a connecting block hinged on the middle finger mechanism, the fourth linear driving mechanism is hinged with a connecting block hinged on the little finger mechanism, and the output end of the rotary driving mechanism is fixedly connected with the second metacarpophalangeal joint seat;

printed circuit board installs in the casing, the last integration of printed circuit board has main controller module, drive module and data communication module, and data communication module is used for receiving the gesture action recognition result of high in the clouds host computer discernment, and main controller module is used for sending control signal for drive module according to gesture action recognition result, and drive module is used for controlling rotary drive mechanism and four sharp actuating mechanism motions respectively according to the control signal that main controller module sent, makes long finger portion and thumb portion make the gesture action.

2. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: the middle finger-far finger joint of each long finger mechanism comprises a profiling finger shell, two symmetrical far finger joint lugs extend out of the left side and the right side of the profiling finger shell, two pairs of connecting shaft holes are arranged on the two symmetrical far finger joint lugs, a pair of connecting shaft holes close to one side of a finger belly of the profiling finger shell are a first pair of connecting shaft holes, and a pair of connecting shaft holes far away from one side of the finger belly of the profiling finger shell are a second pair of connecting shaft holes;

one end of a first connecting piece of each long finger mechanism is hinged to a first pair of connecting shaft holes of the long finger mechanism through a first short pin, the first connecting piece of each long finger mechanism is located between two far finger knuckle connecting lugs of the long finger mechanism, the front ends of two long finger side plates of each long finger mechanism are hinged to a second pair of connecting shaft holes of the long finger mechanism through second short pins, and the two long finger side plates of each long finger mechanism are located on the outer sides of the two far finger knuckle connecting lugs of the long finger mechanism.

3. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 2, wherein: the first metacarpophalangeal joint seat of each long finger mechanism comprises a base body, a first pair of base connecting lugs arranged at the top of the base body and a second pair of base connecting lugs arranged on the side surface of the base body, wherein the first pair of base connecting lugs are provided with a pair of connecting shaft holes which are a third pair of connecting shaft holes, and the second pair of base connecting lugs are also provided with a pair of connecting shaft holes which are a fourth pair of connecting shaft holes;

the other end of the first connecting piece of each long finger mechanism is hinged to a third pair of connecting shaft holes of the long finger mechanism through a third short pin, the first connecting piece of each long finger mechanism is located between a first pair of base connecting lugs of the long finger mechanism, the tail ends of two long finger side plates of each long finger mechanism are hinged to a fourth pair of connecting shaft holes of the long finger mechanism through a fourth short pin, and the two long finger side plates of each long finger mechanism are located on the outer sides of a second pair of base connecting lugs of the long finger mechanism.

4. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 3, wherein: a near knuckle connecting lug extends out of each of two long finger side plates of each long finger mechanism, the near knuckle connecting lug on each long finger side plate is located between the front end and the tail end of the long finger side plate, the four connecting blocks are H-shaped connecting blocks, and the four connecting blocks are respectively a first connecting block, a second connecting block, a third connecting block and a fourth connecting block;

the two near knuckle connecting lugs of the index finger mechanism are hinged with the two extending ends at the top of the first connecting block, the two extending ends at the top of the first connecting block are positioned between the two near knuckle connecting lugs of the index finger mechanism, the output end of the second linear driving mechanism is hinged with the two extending ends at the bottom of the first connecting block, and the output end of the second linear driving mechanism is positioned between the two extending ends at the bottom of the first connecting block;

the two near knuckle connecting lugs of the middle finger mechanism are hinged with the two extending ends at the top of the second connecting block, the two extending ends at the top of the second connecting block are positioned between the two near knuckle connecting lugs of the middle finger mechanism, the output end of the third linear driving mechanism is hinged with the two extending ends at the bottom of the second connecting block, and the output end of the third linear driving mechanism is positioned between the two extending ends at the bottom of the second connecting block;

two near knuckle connecting lugs of the ring finger mechanism are hinged with two extending ends at the top of a third connecting block, and the two extending ends at the top of the third connecting block are positioned between the two near knuckle connecting lugs of the ring finger mechanism;

two near knuckle engaging lugs of little finger mechanism and two of fourth connecting block top stretch out the end and pass through the round pin axle is articulated, the round pin axle simultaneously with two of third connecting block bottom stretch out the end and articulate, and two of fourth connecting block top stretch out the end and are located between two near knuckle engaging lugs of little finger mechanism, the output of fourth linear drive mechanism and two of fourth connecting block bottom stretch out the end and articulate, and the output of fourth linear drive mechanism is located between two of fourth connecting block bottom stretch out the end.

5. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: the first linear driving mechanism, the second linear driving mechanism, the third linear driving mechanism and the fourth linear driving mechanism are all linear motors.

6. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: the rotary driving mechanism comprises a rotary motor, a first gear, a second gear and a rotating shaft;

the rotating motor is arranged in the shell, an output shaft of the rotating motor is fixedly connected with a first gear, the first gear is meshed with a second gear, and one end of the rotating shaft is fixed at the center of the second gear;

the bottom of second metacarpophalangeal joint seat is equipped with two and connects the platform, the pivot passes two and connects the platform, and can drive the second metacarpophalangeal joint seat rotates together.

7. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: the shell comprises a back shell, a palm shell and a palm base;

the palm base is positioned between the palm back shell and the palm center shell, the palm center shell is buckled and pressed on one side surface of the palm base, and the palm center shell is buckled and pressed on the other side surface of the palm base;

the printed circuit board is arranged on the side surface of the palm base close to the back of the hand shell, and the rotary driving mechanism and the four linear driving mechanisms are arranged on the side surface of the palm base close to the palm shell;

the top of palm base is equipped with four wedge grooves, every long finger mechanism's first metacarpophalangeal joint seat corresponds a wedge groove, every long finger mechanism's first metacarpophalangeal joint seat bottom all is equipped with a wedge, and the wedge of every first metacarpophalangeal joint seat is installed in the wedge groove rather than corresponding.

8. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: and a contact pressure sensor is arranged in the middle finger-distal knuckle of each long finger mechanism, a contact pressure sensor is arranged in the thumb distal knuckle of the thumb part, and each contact pressure sensor is electrically connected with the main controller module.

9. The cloud-fusion-enabled prosthetic hand perceiving mechanism of claim 1, wherein: and each strain force measuring sensor is arranged on the first connecting piece of each long finger mechanism, each strain force measuring sensor is arranged on the second connecting piece of the thumb part, and each strain force measuring sensor is electrically connected with the main controller module.

10. An artificial hand perception system supporting cloud fusion is characterized by comprising electromyographic signal acquisition equipment, a cloud upper computer and an artificial hand perception mechanism according to any one of claims 1 to 9;

the electromyographic signal acquisition equipment is worn on the forearm of the user and is used for acquiring the electromyographic signal generated by the forearm muscle group of the user;

the cloud end upper computer is used for receiving the electromyographic signals collected by the electromyographic signal collecting equipment and processing the received electromyographic signals to obtain gesture action recognition results;

and the artificial hand sensing 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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