CN110216700B - Flexible under-actuated bionic hand - Google Patents

Abstract

The present invention provides a flexible underactuated bionic hand with a palm and finger assembly. The flexible underactuated bionic hand further comprises: a bending component disposed on a first surface of the palm for controlling the bending of the finger component; and an intermittent transmission component, the intermittent transmission The assembly is arranged on a second surface of the palm, and is used to control the separation and closeness of each finger in the finger assembly; wherein, the first surface of the palm is opposite to the second surface.

Description

Flexible underactuated bionic hand

technical field

The invention relates to a manipulator in the field of medical rehabilitation equipment, in particular to a flexible underactuated bionic hand.

Background technique

The human hand is a very important tool for the human body to contact the outside world, and it is also the most complex and delicate tool for human survival and labor. Perceiving the external world through hands is an important part of the human tactile world. Although the human hand is small, it is very dexterous and can complete complex movements. There are currently more than 1 billion people with some form of disability in the world and the number of people with disabilities is increasing year by year. The report outlines the state of disability in the world: about 1 in 5 people with disabilities experience significant hardship. Handicapped people have experienced many difficulties in work and life, especially the basic manipulation function of the hand cannot be achieved. Now there are some commercial prosthetic hands on the market to help people with hand disabilities, such as OttoBock, i-Limb prosthetics. However, most of the existing commercial prosthetic hands can only be similar in appearance to human hands and have low practicability. Data show that 30% to 50% of hand amputees use less of their existing prosthetic hand. The main reason for this is nothing more than the following factors: (1) The function of the prosthetic hand is relatively simple. Most of the current prosthetic hands have only 1 or 2 degrees of freedom, and can only complete simple bending/extending movements, unlike normal human hands that can complete different grasping movements. Moreover, the prosthetic hand does not have the ability of shape adaptation (the ability to adjust the position of the fingers according to the shape of the object being grasped), so that the grasped object is relatively simple; (2) the appearance of the prosthetic hand is similar to that of a mechanical hand. Hand amputees refuse to wear it because of the "eye-catching" appearance; the manoeuvrability of the prosthetic hand is poor. Can not meet the simple, flexible and reliable interactive control with feedback system; the existing electromyographic signal (EMG) control prosthetic hand is relatively heavy. EMG prostheses control hand movement through residual muscle signals in the forearm. The collection process of EMG signals will cause pain to the wearer, and the recognition rate of the collected signals is not high. Also, the existing EMG control. The prosthetic hand also has no advantage in size and weight. Therefore, a new bionic hand is needed to solve the above problems.

SUMMARY OF THE INVENTION

One object of the present invention is to provide a flexible underactuated bionic hand, which can realize the actions of opening and closing the five fingers, bending the five fingers, and abduction and adduction of the thumb through the bending component and the intermittent transmission component, and can adaptively grasp different shapes and sizes. sized objects.

In order to solve the above problems, the present invention provides a flexible underactuated bionic hand having a palm and finger assembly. The flexible underactuated bionic hand further comprises: a bending component disposed on a first surface of the palm for controlling the bending of the finger component; and an intermittent transmission component, the intermittent transmission The assembly is arranged on a second surface of the palm, and is used to control the separation and closeness of each finger in the finger assembly; wherein, the first surface of the palm is opposite to the second surface. That is to say, the bending component and the intermittent transmission component are respectively disposed on the front and back surfaces of the palm.

In an embodiment of the present invention, the finger assembly includes a thumb, an index finger, a middle finger, a ring finger and a little finger, and the thumb, the index finger, the middle finger, the ring finger and the little finger have an identical finger structure; three grooves are distributed on the finger structure, and the finger structure is divided into a first knuckle, a second knuckle, a third knuckle and a connecting knuckle; the The connecting knuckles are used to connect the index finger, the middle finger, the ring finger and the little finger to the palm respectively; the connecting knuckles of the thumb are connected with a thumb rotating shaft, and the thumb rotating shaft is rotatably arranged on the first surface of the palm; the first knuckle, the second knuckle, the third knuckle and the connecting knuckle are all provided with through holes, so that a connecting line can pass through through the through hole and parallel to the central axis of the finger structure.

In an embodiment of the present invention, the bending assembly includes a first bending assembly and a second bending assembly; wherein, the first bending assembly includes: a first motor, and the first motor is fixedly arranged on the the first surface of the palm; a first winding sleeve, the first winding sleeve is sleeved on an output shaft of the first motor; and a pulley set, the pulley set includes a first fixed pulley, a second fixed pulley and a movable pulley; the first fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the little finger, and the second fixed pulley is fixedly arranged on the on the first surface of the palm and corresponding to the connecting knuckle of the ring finger; the second bending component includes: a second motor, the second motor is fixedly arranged on the first part of the palm and, a bevel gear is sleeved on the output shaft of the second motor; and, a differential, the differential has a casing, and the outer peripheral surface of the casing is formed with a bevel gear engaged with the bevel gear In addition, the differential also has a first output shaft and a second output shaft; wherein, a first connection line passes through the little finger and the second fixed pulley through the first fixed pulley and the second fixed pulley. the ring finger; the movable pulley is arranged on the first connecting line between the first fixed pulley and the second fixed pulley, and the movable pulley is connected to the first connecting line through a second connecting line The winding sleeve is connected; a third connecting wire runs through the middle finger and is connected with the first output shaft of the differential; a fourth connecting wire runs through the index finger and is connected with the differential the second output shaft is connected; and, a fifth connecting wire passes through the thumb and is connected to the output shaft of the second motor.

In this way, the bending of the ring finger and the little finger can be notified at the same time through the first bending assembly composed of the pulley assembly; and the thumb, The curvature of the index finger and the middle finger.

In an embodiment of the present invention, the intermittent transmission assembly includes: a third motor, the third motor is fixed on the second surface of the palm, and an output shaft of the third motor is provided with a a first crown gear; a gear set, the gear set includes a first incomplete gear, a second incomplete gear, an intermediate gear and at least one finger connection gear; all gears of the gear set are rotatably arranged in the second surface of the palm; wherein the first partial gear meshes with the first crown gear, the second partial gear meshes with the first partial gear, the intermediate gear The gear meshes with the second incomplete gear, and the at least one finger connecting gear meshes with the intermediate gear at least; a second crown gear is sleeved on one end of the thumb rotating shaft, And, the second crown gear meshes with the first incomplete gear.

In an embodiment of the present invention, the gear set includes three finger connecting gears: an index finger connecting gear, a ring finger connecting gear and a little finger connecting gear; wherein the connecting knuckle of the index finger and the index finger connecting gear The rotating shaft is connected, and the index finger connecting gear is meshed with the second incomplete gear; the connecting knuckle of the ring finger is connected with the rotating shaft of the ring finger connecting gear, and the ring finger connecting gear and the intermediate gear The connection knuckles of the little finger are connected with the rotating shaft of the little finger connection gear, and the little finger connection gear is meshed with the intermediate gear.

In this way, the third motor drives the first incomplete gear to rotate through the first crown gear on its output shaft, and then drives the second incomplete gear to rotate. The second incomplete gear further drives the intermediate gear and the index finger connecting gear to rotate, so as to control the relative position of the index finger and the middle finger. At the same time, the intermediate gear drives the ring finger connecting gear and the little finger connecting gear, thereby controlling the relative positions of the ring finger, the little finger and the middle finger.

In an embodiment of the present invention, the finger assembly is made of flexible resin. The flexible resin is a common commercial commodity, and is preferably applicable to 3D molding techniques. Therefore, in a preferred embodiment of the present invention, the finger is formed from a flexible resin material by 3D molding technology.

In an embodiment of the present invention, the first motor, the second motor and the third motor are all commercially available motors provided with encoders.

In the flexible underactuated bionic hand of the present invention, actions such as the opening and closing of the five fingers, the bending of the five fingers, and the abduction and abduction of the thumb are realized through the bending component and the intermittent transmission component, and objects of different shapes and sizes can be adaptively grasped . The flexible underactuated bionic hand of the present invention has the advantages of light weight, small volume, convenient processing and manufacturing, and the like.

Description of drawings

1 is a perspective view of a flexible underactuated bionic hand according to an embodiment of the present invention;

2 is a perspective view of a finger structure of the flexible underactuated bionic hand;

3 is a perspective view of the thumb of the flexible underactuated bionic hand;

4 is a front view of the flexible underactuated bionic hand;

5 is a rear view of the flexible underactuated bionic hand;

6 is a perspective view of the differential of the flexible underactuated bionic hand;

Figure 7 is a cross-sectional view of the differential shown in Figure 6;

Detailed ways

The preferred embodiments of the present invention are described below with reference to the accompanying drawings to prove that the present invention can be implemented. The embodiments can fully introduce the present invention to those skilled in the art, and make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

As shown in FIG. 1 , in the present invention, a flexible underactuated bionic hand 1 has a palm 10 and a finger assembly 20 . The finger assembly 20 includes: a thumb 21 , an index finger 22 , a middle finger 23 , a ring finger 24 and a little finger 25 .

In the present invention, the index finger 22 , the middle finger 23 , the ring finger 24 and the little finger 25 have the same finger structure 200 .

Hereinafter, the finger structure 200 will be described in detail with reference to FIG. 2 .

As shown in FIG. 2 , the finger structure 200 is cylindrical to simulate a finger. Three grooves 204 are distributed on the finger structure 200 , and the finger structure 200 is divided into a first knuckle 201 , a second knuckle 202 , a third knuckle 203 and a connecting knuckle 206 . As shown in FIGS. 1 and 2 , the connecting knuckles 206 are used to connect the index finger 22 , the middle finger 23 , the ring finger 24 and the little finger 25 having the finger structure 200 to the palm 10 .

In order to realize the bending of the finger structure 200, the finger structure 200 is made of a flexible resin material. More preferably, the finger structure 200 is formed from a flexible resin material by 3D molding technology. As shown in FIG. 2 , through holes 205 are provided on the first phalanx 201 , the second phalanx 202 , the third phalanx 203 and the connecting phalanx 206 . In this way, as shown in FIG. 1 , the connecting wire 30 passes through the through hole, and the connecting wire 30 is arranged in parallel with the central axis of the finger structure 200 .

As shown in FIG. 2 , for better structural design, the connecting knuckle 206 has a groove 207 , so that the connecting knuckle 206 is engaged with the groove 207 which will be described in detail below. palm 10. In addition, the connecting knuckle 206 also has a plane extending along the central axis of the finger structure 200 , and a fixing hole 208 is formed on the plane for attaching the finger structure 200 It is rotatably connected to the palm 10 in a manner to be described in detail below.

Hereinafter, the thumb 21 will be described in detail with reference to FIG. 3 .

As shown in FIG. 3 , similar to the finger structure 200 , the thumb 21 is also cylindrical to simulate a finger. Three grooves 210 are distributed on the thumb 21 to divide the thumb 21 into a first phalanx 211 , a second phalanx 212 , a third phalanx 211 and a connecting phalanx 216 . In order to realize the bending of the thumb 21, the thumb 21 is also made of a flexible resin material. More preferably, the fingers and thumbs 21 are also formed from flexible resin materials by 3D molding technology. As shown in FIG. 3 , through holes 215 are provided on the first phalanx 211 , the second phalanx 212 , the third phalanx 213 and the connecting phalanx 216 . In this way, as shown in FIG. 3 , the connecting wire 30 passes through the through hole, and the connecting wire 30 is arranged in parallel with the central axis of the finger structure 200 .

Different from the other finger structures 200 of the index finger, middle finger, etc., the connecting knuckle 216 of the thumb 21 is connected to a thumb rotating shaft 217 . Preferably, as shown in FIG. 3 , the thumb rotating shaft 217 is inserted into the connecting knuckle 216 of the thumb 21 , and a crown gear 218 is sleeved at the end of the thumb rotating shaft 217 . In this way, the thumb rotating shaft 217 is rotatably disposed on the first surface of the palm 10 . Hereinafter, other structures of the flexible underactuated bionic hand 1 will be described in detail with reference to FIG. 1 , FIG. 4 and FIG. 5 .

As shown in FIG. 1 and FIG. 4 , the flexible underactuated bionic hand 1 includes a bending component disposed on a first surface of the palm 10 , for example, the palm surface of the palm. As shown in FIG. 4 , all components disposed on the palm surface of the palm 10 are included in the bending assembly. In fact, the surface on which the curved component is located is defined as the palm surface of the palm 10 .

As shown in FIG. 4 , the bending assembly includes a first bending assembly 100 and a second bending assembly. As shown in FIG. 4 , the first bending assembly 100 includes: a first motor 101 , a first wire winding sleeve 102 and a pulley set 103 . Wherein, the first motor 101 is fixedly disposed on the first surface of the palm 10 by any known means, such as a nut-screw structure or a fixing plate structure. The first winding sleeve 102 is sleeved on the output shaft of the first motor 101 .

As shown in FIG. 4 , the pulley set 103 includes a first fixed pulley 1031 , a second fixed pulley 1032 and a movable pulley 1033 . The first fixed pulley 1031 is fixedly disposed on the first surface of the palm 10 and corresponds to the connecting knuckle of the little finger 25 , and the second fixed pulley 1032 is fixedly disposed on the first surface of the palm 10 . on the first surface and corresponds to the connecting knuckles of the ring finger 24 . As shown in the figure, a first connecting line 31 passes through the little finger 25 and the ring finger 24 through the first fixed pulley 1031 and the second fixed pulley 1032, and the movable pulley 1033 is disposed at the on the first connection line 31 between the first fixed pulley and the second fixed pulley. In addition, the movable pulley 1033 is also connected to the first winding sleeve 102 through a second connecting wire 32 .

In this way, when the first motor 101 is running, the first winding sleeve 102 on the output shaft of the first motor 101 rotates to wind the second connecting wire 32 or release the first wire Two connecting lines 32, and then pull or release the movable pulley 1033, and further pull the little finger 25 and the ring finger 24 through the first connecting line 31 to bend downward and inward, or release the little finger 25 and all Said ring finger 24.

In this way, the little finger 25 and the ring finger 24 can be bent in conjunction with the first motor 101 .

Referring further to FIG. 4 , the second bending component includes: a second motor 121 and a differential 122 . The second motor 121 is fixedly disposed on the first surface of the palm 10 by any known means, such as a nut-screw structure or a fixing plate structure. A bevel gear 123 is sleeved on the output shaft of the second motor 121 . The differential 122 is a suitable part currently on the market.

In order to explain the present invention more clearly, the structure of the differential gear 122 is described below with reference to FIGS. 6 and 7 .

As shown in FIG. 6 , the differential 122 has a casing 1221, and the outer peripheral surface of the casing 1221 is formed with tooth slots 1222 engaged with the bevel gear 123, and the differential 122 also has a A first output shaft 1223 and a second output shaft 1224. As shown in FIGS. 4 and 6 , the differential 122 is fixed by a known fixing means such as a fixing plate by means of bearings 1227 on the first output shaft 1223 and the second output shaft 1224 . is fixed on the first surface of the palm 10 .

Referring to FIG. 7 , two planetary gears 1225 and two side gears 1226 are disposed in the casing 1221 of the differential 122 , and the star gears 1225 are meshed with the side gears 1226 . When the tooth slot 1222 on the surface of the casing 1221 is driven by the bevel gear 123, the casing 1221 starts to rotate around the first output shaft 1223 and the second output shaft 1224, thereby driving all the internal The planetary gear 1225 rotates. The planetary gear 1225 drives the side gear 1226 meshed with it, so that the first output shaft 1223 and the second output shaft 1224 start to rotate.

Please continue to refer to FIG. 4 and FIG. 6 , the middle finger 23 is connected with the first output shaft 1223 of the differential 122 through a third connecting wire 33 ; the index finger 22 is connected with the first output shaft 1223 through a fourth connecting wire 34 . The second output shaft 1224 of the differential 122 is connected. The thumb 21 is connected to the output shaft of the second motor 121 through a fifth connecting wire 35 .

In this way, the bending or releasing of the middle finger 23 and the index finger 22 can be controlled by the differential 122 , and the bending or releasing of the thumb 21 can be controlled through the rotation of the output shaft of the second motor 121 . .

As shown in FIG. 5 , the flexible underactuated bionic hand 1 further includes an intermittent transmission component disposed on a second surface of the palm 10 , such as the palm dorsal surface. As shown in FIG. 5 , all the components disposed on the palm surface of the palm 10 are included in the intermittent transmission assembly. In fact, the surface on which the intermittent transmission assembly is located is defined as the palm surface of the palm 10 .

As shown in FIG. 5 , the intermittent transmission assembly includes: a third motor 140 and a gear set 160 . As shown in the figure, the third motor 140 is fixedly disposed on the second surface of the palm by any known means, such as a nut-screw structure or a fixing plate structure. A first crown gear 141 is disposed on the output shaft of the third motor 140 .

The gear set 160 includes a first incomplete gear 1601, a second incomplete gear 1602, an intermediate gear 1603 and three finger connecting gears (an index finger connecting gear 1604, a ring finger connecting gear 1605 and a little finger connecting gear ( Not marked in the figure)). All gears of the gear set are rotatably arranged on the second surface of the palm, for example, all gears are rotatably arranged on the second surface of the palm in a manner that the central axis is fixedly connected to the palm. on the second surface.

As shown in FIG. 5 , the first incomplete gear 1601 meshes with the first crown gear 141 , the second incomplete gear 1602 meshes with the first incomplete gear 1601 , and the intermediate gear 1603 meshes with the second incomplete gear 1602 . In addition, the first incomplete gear 1602 also meshes with the crown gear 218 sleeved on the end of the thumb rotating shaft 217 .

As shown in FIG. 5 , the connecting knuckles of the index finger 22 are connected with the rotating shaft of the index finger connecting gear 1604 , and the index finger connecting gear 1604 is engaged with the second incomplete gear 1602 . The connecting knuckle of the ring finger 24 is connected with the rotating shaft of the ring finger connecting gear 1605 , and the ring finger connecting gear 1605 is meshed with the intermediate gear 1603 . The connecting knuckles of the little finger 25 are connected with the rotating shaft of the little finger connecting gear (not numbered in the figure), and the little finger connecting gear meshes with the intermediate gear 1603 .

When the third motor 140 rotates and when the first incomplete gear 1601 and the second incomplete gear 1602 are in a rest period, the thumb is rotated through the transmission action of the first incomplete gear 1601 The crown gear 218 on the shaft 217 rotates, thereby causing the thumb 21 to rotate. When the thumb 21 rotates from 60° (relative to the palm) to 80°, the first incomplete gear 1601 and the second incomplete gear 1602 begin to mesh and start to rotate, and the intermittent transmission assembly stops period ends.

In this way, the third motor 140 drives the first incomplete gear 1601 to rotate through the first crown gear 141 on its output shaft, thereby driving the second incomplete gear 1602 to rotate. The second incomplete gear 1602 further drives the intermediate gear 1603 and the index finger connecting gear 1604 to rotate to control the relative position of the index finger 22 and the middle finger 23; that is, the index finger 22 in the figure can be connected to the gear 1604 through the index finger swivel slightly to the left or right. At the same time, the intermediate gear 1603 drives the ring finger connecting gear 1605 and the little finger connecting gear, thereby controlling the relative positions of the ring finger 24, the little finger 25 and the middle finger 23; that is, the ring finger 24 and the The little finger 25 can swing slightly from side to side.

Those skilled in the art can know that all the components in the present invention are commercially available parts suitable for the present invention, and the first motor 101 , the second motor 121 and the third motor 140 are all provided with codes commercially available motor for the device.

In the flexible underactuated bionic hand of the present invention, actions such as the opening and closing of the five fingers, the bending of the five fingers, and the abduction and abduction of the thumb are realized through the bending component and the intermittent transmission component, and objects of different shapes and sizes can be adaptively grasped . The flexible underactuated bionic hand of the present invention has the advantages of light weight, small volume, convenient processing and manufacturing, and the like.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as It is the protection scope of the present invention.

Claims (4)

1. A flexible under-actuated prosthetic hand having a palm and finger assembly, the flexible under-actuated prosthetic hand further comprising: a flexing element disposed on a first surface of the palm for controlling flexing of the finger elements; the intermittent transmission assembly is arranged on a second surface of the palm and used for controlling the separation and the folding of each finger in the finger assembly; wherein the first surface of the palm is opposite the second surface;

the finger assembly comprises a thumb, an index finger, a middle finger, a ring finger and a little finger, and the thumb, the index finger, the middle finger, the ring finger and the little finger have a same finger structure; the finger structure is distributed with three grooves, and the finger structure is divided into a first knuckle, a second knuckle, a third knuckle and a connecting knuckle; the connecting knuckle is used for connecting the index finger, the middle finger, the ring finger and the little finger to the palm respectively; the connecting knuckle of the thumb is connected with a thumb rotating shaft, and the thumb rotating shaft is rotatably arranged on the first surface of the palm; through holes are formed in the first knuckle, the second knuckle, the third knuckle and the connecting knuckle, so that a connecting line penetrates through the through holes and is arranged in parallel with a central shaft of the finger structure;

the flexure assembly includes: a first flexure assembly, the first flexure assembly comprising: the first motor is fixedly arranged on the first surface of the palm; the first winding sleeve is sleeved on an output shaft of the first motor; the pulley block comprises a first fixed pulley, a second fixed pulley and a movable pulley; the first fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the little finger, and the second fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the ring finger; and a second flexure assembly, the second flexure assembly comprising: the second motor is fixedly arranged on the first surface of the palm, and an output shaft of the second motor is sleeved with a bevel gear; and, a differential having a housing with a tooth groove formed on an outer peripheral surface thereof to be engaged with the bevel gear; the differential also has a first output shaft and a second output shaft; wherein a first connecting line passes through the little finger and the ring finger through the first fixed pulley and the second fixed pulley; the movable pulley is arranged on the first connecting line between the first fixed pulley and the second fixed pulley, and is connected with the first winding sleeve through a second connecting line; a third connecting wire penetrates through the middle finger and is connected with the first output shaft of the differential; a fourth connecting line penetrates through the index finger and is connected with the second output shaft of the differential; and a fifth connecting wire penetrates through the thumb and is connected with the output shaft of the second motor.

2. The flexible under-actuated bionic hand according to claim 1, wherein the intermittent drive assembly comprises: a third motor fixedly arranged on the second surface of the palm, and a first crown gear is arranged on an output shaft of the third motor; a gear set including a first partial gear, a second partial gear, an intermediate gear, and at least one finger connecting gear; all gears of the gear set are rotatably disposed on the second surface of the palm; wherein said first partial gear meshes with said first crown gear, said second partial gear meshes with said first partial gear, said intermediate gear meshes with said second partial gear, and said at least one finger connecting gear meshes with at least said intermediate gear; the second crown gear is sleeved at one end of the thumb rotating shaft and is meshed with the first incomplete gear.

3. The flexible under-actuated bionic hand according to claim 2, wherein the gear set comprises three finger-connected gears: a forefinger connecting gear, a ring finger connecting gear and a little finger connecting gear; wherein the connecting knuckle of the index finger is connected with the rotating shaft of the index finger connecting gear, and the index finger connecting gear is meshed with the second incomplete gear; the connecting knuckle of the ring finger is connected with the rotating shaft of the ring finger connecting gear, and the ring finger connecting gear is meshed with the intermediate gear; the connecting knuckle of the little finger is connected with the rotating shaft of the little finger connecting gear, and the little finger connecting gear is meshed with the intermediate gear.

4. A flexible under-actuated bionic hand according to any one of claims 1 to 3, wherein the finger assembly is made of flexible resin.

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