CN110271021A - The bionic mechanical hand of non-jitter - Google Patents

Abstract

A kind of bionic mechanical hand of non-jitter, including at least one driving motor, each driving motor has respective tractive unit, power output line and multiple traverse shafts are set between driving motor and tractive unit, power output line includes at least two sections of line segments that can mutually wind, and power output line one end fixes with tractive unit, the output end of the other end and driving motor is fixed；The path that power output line passes through is equipped with beam splitting part, and the line segment of power output line winding separates at beam splitting part.Influence of the torque of line segment winding to middle finger joint, remote finger joint has been isolated in beam splitting part, can separate the transmitting of the line segment and drag that are intertwined, avoids finger shake, ensures the service life of power output line.

Description

The bionic mechanical hand of non-jitter

Technical field

The present invention relates to a kind of bionic mechanical, in particular to a kind of bionic mechanical hand of non-jitter.

Background technique

The major domain of bionic mechanical research has biomethanics, control volume and robot.The power of biomechanics Research life Learn phenomenon and rule, including the raw body mechanics of materials, raw body hydrodynamics and body Mechanics of Machinery.Control volume and robot are bases The engineering technology system that the knowledge recognized from biology is built.

According to statistics, hand is to be most susceptible to one of human organ of damage, since its intrinsic nerve, blood vessel, small muscle are vertical Traversed by is wrong, once impaired, it is difficult to treat, and functional rehabilitation is also undesirable after treatment.Also, still hand itself is not impaired can shadow Its motor function is rung, brain, backbone, arm etc. are impaired, and the loss of motor function of hand can be also made when not influencing the human body of hand.

Bionic hand is the critical functionality component of bio-robot increasingly flourishing at present, and existing bionic hand mainly includes Following two categories, the first kind, function is relatively flexible, but the obvious mechanization of appearance, is mainly made of, passes through the connecting rod and hinge of rigidity Link transmission or span wire system realize the linkage between finger joint.The advantages of this bionic hand is can to close all activities of manpower Section is split, to realize more freedom degrees.The power exported using the bionic hand of link transmission mode is bigger, but connects The rigidity of linkage is big, and flexible low, weight is big, and appearance is with natural manpower poor appearance away from larger.The bionic hand of stay-supported, it is flexible Height, but the finger power exported is small, and bracing wire is easy to break, and is easy to appear disabler.Second class be appearance color and texture all with The close silica gel hand of manpower height, this hand are made by true man's hand reverse mould, then with silica gel perfusion.But this hand is only decorated Function does not have tangible motor function.

Summary of the invention

The purpose of the present invention is to provide a kind of shapes close to human body limb or can be with the human body of lost-motion function Limbs combine, while taking into account flexible and freedom of motion again, can export the bionic mechanical for referring to power greatly.

A kind of bionic mechanical, has at least one driving motor, and each driving motor has respective tractive unit, driving electricity Power output line is set between machine and tractive unit and multiple traverse shafts, power output line include at least two sections of lines that can mutually wind Section, power output line one end fixes with tractive unit, the output end of the other end and driving motor is fixed.

The torque of driving motor output is transferred to power output line, and power output line mutually winds or mutually unclamps, power output The length of line changes, so that tractive unit be made to be displaced, entire trailed structural bending or stretches.When power output line resists When traverse shaft, power output line is turned from the traverse shaft resisted, is also driven and is bent by traction mechanism.

The first aspect of the present invention, it is real its purpose is to provide a kind of harmonious Biological Strength transmitting realized to mechanism kinematic The proper motion for now meeting biomethanics avoids the occurrence of the conducting wire shaft position and spring rate for violating the movement of natural biology movement Optimization method.

The traverse shaft method for optimizing position can be used for lost-motion function manpower and or arm, with connecting rod and spring weight Manipulator, mechanical arm for building etc..These structures are referred to as by traction mechanism herein.It is virtually with connecting rod by traction mechanism With the connecting rod model of elastic hinge.For manipulator and mechanical arm, using manipulator, mechanical arm connecting rod as connecting rod, it is mechanical Hand, mechanical arm joint be elastic hinge.For the manpower of lost-motion function, arm, using hand bone as connecting rod, to close Section is used as elastic hinge.

As a preferred option, nature limb motion database is obtained, motion model, natural limbs are established to natural limbs Motion model in, bone is as connecting rod, and joint is as elastic hinge, and tendon is as power output line, the parameter packet in each joint The rigidity for including tendon length l and joint, using positive inverse kinematics obtained from right limbs tendon amount of exercise △ l and joint angles θ it Between relationship l=f (θ_i)；Using PCA algorithm, the dimension direction of the first principal component of nature limbs is obtained, and in the dimension The relationship of tendon amount of exercise △ l and joint angles θ and the ratio when there is multiple joints, between multiple joint angles under direction Example relationship；

It establishes by the motion model of hitch structure, the freedom of motion of motion model is constrained in the dimension of first principal component Direction, motion model include the elastic hinge and power output line between connecting rod, adjacent links, and the parameter of each elastic hinge includes The position of two insertion points and the rigidity of spring, the power output line length between two insertion points indicate tendon length；

Using spring rate and tendon length as input, using the angle in each joint as output, with flesh in motion model Pass in relationship and natural limbs between tendon amount of exercise △ l and joint angles θ between tendon amount of exercise △ l and joint angles θ It is gap minimum as target, constantly adjusts insertion point position and spring rate, iterative calculation, until target is reached；Output is inserted Access point position and spring rate, conducting wire shaft position and spring rate optimization are completed.

The core of this method is by each joint be virtually two insertion points and a joint rigidity value；The tool of insertion point Body surface shows tendon length.

Further, positive inverse kinematics model obtains the relationship of tendon amount of exercise △ l and joint angles θ, positive kinematics model Are as follows:Wherein, J indicate rotational transformation matrix, Indicate tendon in the amount of exercise of the dimension；

Inverse kinematics model are as follows: J⁺=(J^TJ+λ²W^TW)^-1, J⁺Rotational transformation matrix after indicating weighting, the weight of weighting are W spring rate；WhenIt obtains The relationship of tendon amount of exercise and joint angles.

Further, the acquisition methods of proportionate relationship when multiple joints, between multiple joint angles are: tendon amount of exercise The relationship of △ l and joint angles θ establishes curve graph, using tendon length l as abscissa, using angle value as ordinate, each The curve that there are joint angles a joint angles to be changed according to tendon length in this coordinate system；

A selected joint is established using the angle in benchmark joint as abscissa, angle value is ordinate as benchmark joint Two-dimensional coordinate system, obtain the curve of each joint relative datum coordinate, slope of a curve indicates the angle and benchmark in the joint Proportionate relationship between the angle in joint.Proportionate relationship between the angle in joint and the angle in benchmark joint more approaches PCA points The angle proportionate relationship obtained is analysed, then illustrates the motion model closer to the movement of natural limbs.If the angle and benchmark in joint The angle proportionate relationship that proportionate relationship between the angle in joint is obtained further away from PCA analysis, then to approach PAC principal component analysis The result of acquisition is target, adjusts the relative position of insertion point.

As a preferred option, it is finger by traction mechanism, establishes finger movement model, finger includes nearly finger joint-metacarpal bone Joint MCP, nearly finger joint-middle finger joint joint PIP and the remote finger joint joint D IP of middle finger joint-, each joint have respective two insertions Point.

Finger or bionic mechanical hand are reduced to finger connecting rod model, in connecting rod model, (for example phalanges, hand bone refer to bone Bone model etc.) it is connecting rod, the joint between adjacent bone is elastic hinge.Finger and handle herein can be to be lost in self-heating human body The finger and arm for losing motor function, are also possible to the artificial limb and artificial hand rebuilded using mechanical structure.

When finger structure applied to manipulator, as a preferred option, rigidity W is the rigidity of torsional spring, and rigidity is as can Variable, with insertion point position together as variable input value.

The patient of finger motion function is lost, for example stroke patient, the movement of finger are no longer controlled by brain, finger-joint The muscle rigidity degree of the muscle rigidity at place, the different joints of the same root finger of the same patient is different, therefore is carrying out When the traverse shaft insertion point optimization of gloves, the joint stiffness W in biomechanical model is different.

When the finger structure of the manpower applied to lost-motion function, as a preferred option, rigidity W is finger-joint Practical stiffness；Rigidity W is inputted as fixed value, and only insertion point position is as variable input value.Before optimization calculates, to patient Each finger rigidity measure.The rigidity in manpower joint can obtain the angle in joint by given known power, measurement, It calculates and obtains joint stiffness W, the prior art is used by way of known force and angle calculation rigidity.

Further, when manpower rehabilitation applied to lost-motion function, finger is in addition to the grippage that loses the initiative, generally also With the ability for the stretching, extension that loses the initiative, therefore, in rehabilitation tool the mechanism for upholding finger can be also set, using elastic component as hand Refer to uphold mechanism when, power output line draw finger grip when, joint stiffness be compounded with elastic component effect joint it is equivalent just Degree.That is, carrying out finger-joint rigidity test when elastic component is in running order.

It as a preferred option, is arm by traction mechanism, arm motion model includes elbow joint；Elbow joint includes two Insertion point and a joint stiffness.

Arm motion model includes shoulder joint, and shoulder joint is universal joint, the direction of motion of shoulder joint is first determined, if shoulder joint Consistent with the direction of motion of elbow joint, the input value of arm motion model includes a pair of of shoulder joint insertion point, shoulder joint rigidity, and A pair of of elbow joint insertion point and elbow joint rigidity.

The second aspect of the present invention, provides one kind and can be realized apery hand and grasp naturally, and the bionic mechanical that grip is big The structure of hand.

A kind of bionic mechanical hand, has palm, thumb 1, index finger, middle finger, a third finger 4 and little finger of toe, index finger, middle finger, unknown Finger 4 and little finger of toe are respectively provided with respective nearly finger joint, middle finger joint and remote finger joint, and nearly finger joint and palm are hinged；Each joint has each From couple of conductor axis and the spring between insertion point；Each finger has respective driving motor and power output line, often A power output line includes at least two sections of line segments that can mutually wind, each power output line successively pass through traverse shaft on finger, Distal end is fixed with the traverse shaft in remote finger joint, and the other end and the motor output end of line segment are fixed.

When motor output torque, line segment is mutually wound twisted wire, and the length of line segment shortens to form pulling force to finger tip, Occur relative motion between each finger joint of finger, and then realize digital flexion, realizes the grasping movement of hand.In finger structure, Other than phalanges, hinge and spring, no setting is required

The rigidity of insertion point and spring determines by above-mentioned optimization method, driving motor obtained as PCA analytic approach The driver in one principal component direction.The effect of PCA analytic approach is the movements of natural limbs carrying out dimensional analysis, later, When carrying out bionic mechanical design, driver is set for the principal component direction that PCA analytic approach obtains.Driver is more, recovery Natural limb motion is more comprehensive.

Each finger be equipped with acceptance output line wire casing, along wire casing be equipped with traverse shaft, the both ends of traverse shaft respectively with Wire casing is fixed；Power output line space across traverse shaft and wire casing.

According to the physiological structure of manpower, the kinematics of finger is reduced to the link mechanism driven by power output line, finger Bone is considered as rigid link, and the ligament and tendon between connection maniphalanx are considered as the elastic hinge for having rigidity, a series of Traverse shaft insertion point position and power output line fixed point position determine power output line drive finger how to move.Cause This, needs to model power output line and traverse shaft, to understand between the length of power output line and finger movement state Relationship.

The position of traverse shaft determines after insertion point and stiffness optimization calculate, and position is stablized, so that manipulator be made to make After the completion of work, the bending degree of finger can be controlled by calculating the length of power output line, digital flexion, hand are grabbed in realization Hold the accurate control of movement.

Traverse shaft includes mandrel and wear sleeve, and wear sleeve covers outside mandrel.The finger joint at mandrel and place is fixed, wear-resisting Sleeve and mandrel tight fit.Wear sleeve reduces the frictional force that power output line is subject to, and plays lubricating action to power output line, Abrasion, the fracture for reducing power output line as far as possible, extend the service life of power output line.

Joint includes a pair of of insertion point and is sleeved on torsional spring in pin shaft.Torsional spring includes that coil spring part and both ends extend outwardly Stabilizer blade, each stabilizer blade is individually fixed in corresponding finger joint.Rigidity of the rigidity of torsional spring as joint, torsional spring are easy for installation.

And or, the joint between nearly finger joint and palm is equipped with the first reed, the joint between nearly finger joint and middle finger joint Equipped with the second reed, the joint between middle finger joint and remote finger joint is equipped with third reed；Each reed is equipped with sensor.With spring The method and structure of piece and sensor acquisition joint angles, using the prior art.

Motor output shaft is equipped with cable-through hole, and power output line is the becket bridle across cable-through hole.With becket bridle and motor output shaft knot One end of conjunction is fixed as proximal end, the distalmost end of becket bridle with remote finger joint, and when motor output torque, becket bridle forms twisted pair, and power is defeated The length of outlet changes.

Power output line one passes through the rope of cable-through hole, and two ends of rope, which combine, closes power output line formation one Remote finger joint is fixed in two ends of ring, rope.

Cable-through hole is the ring being fixed on motor output shaft, or the through-hole being provided on motor output shaft.

Power output line is fixed on by remote finger joint by compressing member in remote finger joint；Alternatively, distal guidewire axis is set in remote finger joint, Becket bridle bypasses distal guidewire axis.Power output line undertakes pulling force in the form of twisted pair, and the tensile deformation that becket bridle is directly subject to is smaller, Easy fracture, and High power output are not allowed.

Remote finger joint, middle finger joint and nearly finger joint are made of respective skeleton and flexible pad respectively, and adjacent skeleton is cut with scissors by elasticity Chain link, wire casing are opened on skeleton, and flexible pad is covered on skeleton, and flexible pad covers in wire casing.Skeleton is equivalent to phalanges, soft Property pad is equivalent to the muscle on finger.Flexible pad covers wire casing, prevents foreign matter from entering wire casing and impacting to power output line.

Have lubricating oil or lubricating grease or colloid on power output line, and or protective film, and or protective layer.In power output line On coat some oil, the toughness of power output line can be enhanced, prolonged the service life.

Power output line passes through the becket bridle formed after cable-through hole at the position close to motor output shaft, and the line segment of becket bridle is banded in Together.For example, the line segment of cable-through hole two sides knots after power output line passes through cable-through hole.In this way, when motor output torque, every time The starting point of line segment winding is identical, also, the trend that separates naturally for avoiding the line segment of cable-through hole two sides transmits torque It influences, improves the effective rate of utilization of Motor torque, and then improve through control motor the control for exporting line length to power.

It finds during the experiment, when in the form of twisted wire as power output line, the case where finger will appear shake.

The third aspect of the present invention, the bionical machine that its purpose is to provide a kind of for using the power output line of twisted wire form The structure that tool hand prevents finger from shaking.

As a preferred option, the path of power output line passed through is equipped with beam splitting part, and the line segment of power output line winding exists It is separated at beam splitting part.The torque of motor output makes the line segment of power output line be intertwined, and then becomes the length of power output line Change, so that the distance between remote finger joint and palm is changed, therefore finger bends.The winding of line segment can be such that finger is moving When generate shake, be unfavorable for grasping.

Beam splitting part is set to nearly finger joint；Or beam splitting part is set to palm, each finger has respective beam splitting part, beam splitting Part is rigid member.It is found after overtesting, be arranged after beam splitting part, beam splitting part is by beam splitting part in Motor torque active set to motor This section, what beam splitting part had interrupted that Motor torque makes line segment actively winds trend, be isolated the torque of line segment winding to middle finger joint, The influence of remote finger joint avoids finger shake.Rigid member referred to herein, refers to form stable, it is not easy to which deformation occurs；And And nisi rigidity or hardness.

Each finger is equipped with the wire casing of acceptance output line, and beam splitting part is located in the wire casing of nearly finger joint, beam splitting part and line There is gap between the cell wall of slot.The gap allow power output line pass through, the line segment of power output line after the separation of beam splitting part, The distal end of beam splitting part continues to form twisted wire with natural canoe, and the twisted wire stress distribution wound naturally is naturally, finger will not be because Motor output torque and shake.

Beam splitting part is the fairing partition of the axial centerline centering with wire casing.Beam splitting part can separate the line being intertwined Section, but will not drag transmitting.

Beam splitting part is proximally and distally in round and smooth curved surface respectively.Beam splitting part is proximally and distally dome.Round and smooth Curved surface can either be round and smooth to power output line guiding, still avoid mutually cutting between beam splitting part and power output line, ensure power it is defeated The service life of outlet.

There are two traverse shafts, beam splitting part to be located between two traverse shafts for tool in the wire casing of nearly finger joint.The length of remote finger joint is filled Abundant, beam splitting part is placed on more suitable than being placed on space in palm between two traverse shafts.Also, power output line is to the transmitting distance of torque Also it requires, if beam splitting part is placed in palm, the power output line influenced by Motor torque is shorter, is easy to appear power output line and twists and breaks The problem of.Beam splitting part is placed in nearly finger joint, power output line is suitble to by the length of Motor torque, can effectively transmit the torsion of motor Square, and reduce power output line and twist disconnected problem.

Beam splitting part and two traverse shafts be equidistant or beam splitting part close to proximal end traverse shaft.In this way, beam splitting part pair The influence of torque transfer is minimum, and finger is not shaken.

Nearly finger joint and beam splitting part one, beam splitting part are higher than traverse shaft.The height needs of beam splitting part are sufficiently high, thus traverse shaft Power output line is limited in the region lower than beam splitting part, power output line is avoided to be detached from beam splitting part.

The fourth aspect of the present invention is, and it is an object of the present invention to provide a kind of height that can be all integrated into driving motor in palm Integrated bionic mechanical hand.

As a preferred option, palm includes the back of the hand skeleton and palm of the hand skeleton, and the back of the hand skeleton and palm of the hand skeleton, which are formed, to be accommodated Chamber, accommodating chamber is interior to be equipped with finger actuation motor race, and finger actuation motor race includes index finger motor, middle finger motor, nameless motor With little finger of toe motor, index finger motor, middle finger motor, nameless motor and little finger of toe motor output shaft be respectively aligned to corresponding hand Refer to；Power output line and the output shaft of finger actuation motor are fixed；One traverse shaft of nearly finger joint-metacarpal joint be located at nearly finger joint, Another traverse shaft is located in palm.

From the anatomical structure of the palm bone of people it is found that in the palm of people have 5 metacarpal bones, each metacarpal bone with it is corresponding Maniphalanx is linked to be the line hinged by joint, and metacarpal bone is connected with nearly finger joint by joint.By index finger motor, middle finger motor, unknown Refer to that motor and little finger of toe motor are arranged according to the relatively respective finger in direction of metacarpal bone, that is, in palm model, finger actuation Motor selects miniature low-range reduction motor.

The fixed part of motor output shaft and power output line is located at the traverse shaft in palm as nearly finger joint-metacarpal joint.Such as This, the conducting wire shaft position in palm after optimization is calculated and determined, also decide by the position of finger actuation motor.This side The threading of case, power output line is simple, but to the positioning accuracy request of finger driving motor height.

Alternatively, nearly finger joint-metacarpal joint is located at, the traverse shaft in palm is located at finger actuation motor and nearly finger joint-metacarpal bone closes Between section.That is, the position of finger actuation motor is unrelated with the traverse shaft of nearly finger joint-metacarpal joint, it is only necessary to power output Line passes through the traverse shaft, reduces the positioning accuracy request to finger driving motor.

There are index finger motor installation position, middle finger motor installation position, nameless motor installation position and little finger of toe motor peace in accommodating chamber Position is filled, the fixed corresponding finger actuation motor in each motor installation position, each motor installation position, which is equipped with, allows motor output shaft to pass through And the through-hole being freely rotated.Each motor installation position includes respective a pair of side plates and distal end baffle, and through-hole is set to distal end and keeps off Plate, the proximal end of motor installation position are opening.

Index finger motor, middle finger motor, nameless motor and little finger of toe motor are respectively equipped with limit assembly, and motor is installed on motor When installation position, limit assembly limiting motor is with respect to the rotation of motor installation position.For example, by modes such as fastener, bondings by motor It is fixed with motor installation position, then fastener, bonded structure can also be used as limit assembly.Index finger motor, middle finger motor, the third finger Motor and little finger of toe motor have deceleration mechanism, and the pedestal of deceleration mechanism has and the matched motion-stopping surface in motor installation position.For example, subtracting Fast mechanism is gear reduction unit, and the pedestal of gear reduction unit is in cuboid or square, gear reduction unit and finger actuation motor It combines, be put into motor installation position, the side of the pedestal of gear reduction unit is bonded with the side plate of motor installation position respectively, Finger actuation motor is limited with respect to the rotation of motor installation position.Set open for the proximal end of motor installation position, convenient for putting motor Enter in motor installation position.

It needs to realize between palm and index finger, middle finger, the third finger and little finger of toe hingedly, therefore needs to be arranged and eat on palm Finger, middle finger, the third finger and little finger of toe connecting portion.The organization plan that following palm is connect with finger is provided in the present invention:

The organization plan that the first palm is connect with finger are as follows: the back of the hand skeleton is equipped with the interconnecting piece hinged with finger, hand Heart skeleton is equipped with finger groove corresponding with interconnecting piece；Palm of the hand skeleton is equipped with the skeleton traverse shaft of power output line, skeleton conducting wire Axle position is between finger actuation motor and corresponding finger.Space needed for finger groove on palm of the hand skeleton provides finger movement, Also, the finger groove on palm of the hand skeleton also limits the extreme position of finger movement, and finger is prevented to occur not meeting biology Crossing for rule moves.

Interconnecting piece is set to the distal end of the back of the hand skeleton, is equipped with distal plate, distal plate and the back of the hand bone between adjacent interconnecting piece The remote edge of frame flushes；Finger groove is set to the distal end of palm of the hand skeleton, is equipped with lattice, the back of the hand bone between adjacent finger groove When frame and palm of the hand skeleton combine, lattice and distal plate separate each finger groove.

All motor installation positions are set to the back of the hand skeleton, and palm of the hand skeleton is fixed with the back of the hand skeleton by screw；Palm of the hand skeleton Upper setting countersunk screw holes, the back of the hand skeleton is interior to be arranged screw hole column, and screw hole column and countersunk screw holes correspond.This structure cooperates finger The position of the driving motor scheme unrelated with the traverse shaft of nearly finger joint-metacarpal joint uses, and the back of the hand skeleton and palm of the hand skeleton are From edge to internal recessing, the activity space of finger is provided, this mode of grooving is simple, and palm skeleton and palm of the hand skeleton is outer Surfacing, it is beautiful.But its drawback is that needing to be arranged the traverse shaft of power output line on palm, power output line is being realized Threading when, need the traverse shaft on palm, thread slightly complicated.

The organization plan that second of palm is connect with finger are as follows: this scheme cooperation motor output shaft is consolidated with power output line Determine the scheme that portion is located at the traverse shaft in palm as nearly finger joint-metacarpal joint to use.Palm of the hand skeleton is equipped with hinged with finger Link block, link block is to have distance, the distal end of link block between link block from the distal end of palm of the hand skeleton to the convex block far extended Hinge is set, and link block is equipped with confined planes；Wire guide, the corresponding wire guide of each link block are opened up on palm of the hand skeleton.

The distal end of link block and finger are hinged, and after finger movement to contact confined planes, nearly finger joint can not be again to close to palm Direction movement, confined planes prevent finger movement occurred, so that the movement of manipulator is met ergonomics.Power output line is from motor After output shaft is drawn, wire guide is passed through, then therefore passes through the traverse shaft on finger.The position of cable-through hole on motor output shaft and The position of wire guide, can also be used as traverse shaft and is included in aforementioned optimized allocation and calculate optimal location, high bionical to obtain Spend, meet the finger control of biomethanics and biological motion form.Link block forms metacarpal bone mould with corresponding finger actuation motor Type.

Palm of the hand skeleton forms the accommodating chamber for accommodating finger actuation motor race, and the back of the hand skeleton is cover board, the back side of palm of the hand skeleton It is in step between link block and palm of the hand skeleton, wire guide is set on step equipped with being open with the accommodating chamber of the back of the hand skeleton track. That is, link block is lower than palm of the hand face；When nearly finger joint touches confined planes, between still having between nearly finger joint and palm of the hand skeleton Gap, to the cushion leaving space of nearly finger joint.

Confined planes are inclined-plane, and proximal end is compared closer to the back of the hand in the distal end of confined planes.When finger movement is to limit face contact, Finger is slightly slanted, and meets the movement of nature finger.

The nearly distal end of finger joint and the distal end of middle finger joint are respectively set finger joint confined planes, and finger joint confined planes are in remote low close high oblique Face.It is height close to the palm of the hand to be low close to the back of the hand.The purpose of finger joint confined planes is also to make finger joint in beaming limit, in slightly Inclined state, meets ergonomics and biomethanics.

The hinge point of nearly finger joint in the articulated section of link block, run through by two articulated section clearance fits, two articulated sections There is pin shaft, is socketed torsional spring on pin shaft；The articulated section edge of link block is arc-shaped.Arc-shaped edge is avoided in articulate mistake It is interfered in journey.

The motor installation position of index finger driving motor, the motor installation position of middle finger driving motor, the electricity of nameless driving motor Machine installation position and the motor installation position of little finger of toe driving motor respectively with respective link block centering, the position of each motor installation position As the position of motor output shaft, when traverse shaft optimizes and distributes, motor installation position as nearly finger joint-metacarpal joint in the palm Traverse shaft is included in optimized allocation.Motor installation position is as the traverse shaft on power output line, after the distribution optimization of position, Guarantee the flexure operation that finger is accurately controlled by the length of power output line, also, the bending shape of finger is distributed in optimization During it has been determined that avoiding finger from the discord harmonic motion for not meeting biomethanics occur.

Each motor installation position includes respective a pair of side plates and distal end baffle, and side plate is perpendicular to palm of the hand skeleton and and the palm of the hand Skeleton is connected, and through-hole is set to distal end baffle, and the proximal end of motor installation position is opening；Finger actuation motor and side plate tight fit.

Finger actuation motor race uses the motor with retarder, and retarder has a rectangular bracket, motor installation position with The bracket tight fit of retarder.

The advantages of organization plan of this finger and palm, is: only needing finger actuation motor installation position, power output line It directly through the wire guide on palm of the hand skeleton, then sequentially passes through between traverse shaft and finger skeleton, the arrangement of power output line Simply.

The fifth aspect of the present invention provides a kind of high integration that can be realized digital flexion and 1 metacarpal bone of thumb and swing The structure of thumb 1.

As a preferred option, thumb have thumb finger and scaphoid bone, thumb finger includes thumb metacarpal, nearly finger joint and Remote finger joint, thumb metacarpal is hinged by elastic hinge with nearly finger joint, and nearly finger joint is hinged by elastic hinge with remote finger joint；Thumb hand Finger is equipped with traverse shaft, and thumb finger has a corresponding thumb drives motor, power output line after the extraction of thumb drives motor successively By traverse shaft, remote finger joint is fixed in the distal end of power output line；Scaphoid bone is hinged with palm, and scaphoid bone has scaphoid bone driving electricity Machine.

Scaphoid bone driving motor makes scaphoid bone around its hinge axis, thus realize thumb to other four refer to it is close dynamic Make, thumb and other fingers cooperate, and realize grasp motion.

The proximal end of the power output line of scaphoid bone passes through the output shaft of scaphoid bone driving motor, and distal end is arranged on scaphoid bone； Opening is set on palm of the hand skeleton, and thumb is in the region of the opening.Scaphoid bone driving motor winds power output line mutually or phase It mutually unclamps, to change the distance between power output line, reaches the angle of adjustment scaphoid bone, realize control thumb palm opposite fortune The purpose of dynamic angle.The advantage of this structure is structure is simple, scaphoid bone motor can be inherited in palm, be wanted to motor Ask relatively low, using the motor with the same model of finger actuation motor.

Alternatively, hinge pin of the output shaft of scaphoid bone motor as scaphoid bone and palm.Fixing seat is set on palm, Gu Reservation is fixed with scaphoid bone motor housing；Scaphoid bone is outside one end of fixing seat setting through-hole, the through-hole and scaphoid bone motor Shell clearance fit；The other end of scaphoid bone and the output shaft of scaphoid bone motor are fixed.In this way, being consolidated with the shell of scaphoid bone motor Reservation is fixed, and fixing seat is fixed with palm, the output shaft output torque of scaphoid bone motor, realizes turning for scaphoid bone palm opposite It is dynamic.The rotational angle for controlling the output of scaphoid bone motor is that controllable thumb is relatively close or angle far from palm, control is simple, Accurately, but to the volume requirement of motor height, it is necessary to select the motor that can be integrated on palm.

Opening on palm of the hand skeleton provides the activity space of thumb.In the bone structure of thumb, including nearly finger joint and remote finger joint, And the thumb metacarpal in palm.But thumb metacarpal is different from the metacarpal bone of other four fingers, and in natural palm, thumb Metacarpal bone has motor function, therefore, in the present solution, thumb metacarpal is arranged except palm, to realize the biology of thumb metacarpal Motor function.Thumb drives motor drives thumb close to or far from the swing of the palm of the hand and the bending of thumb by power output line Movement.

Cushion is covered in opening on palm of the hand skeleton.Cushion is equivalent to palm muscle, plays the role of anti-skidding and buffering.

Thumb metacarpal is connected by scaphoid bone with the back of the hand skeleton, and the back of the hand skeleton is equipped with scaphoid bone attachment base, scaphoid bone packet Include the first connecting portion hinged with scaphoid bone attachment base and the second connecting portion hinged with thumb metacarpal, the power output line of scaphoid bone It ties up in second connecting portion.

The scheme of the first scaphoid bone: the axial pin shaft with second connecting portion of pin shaft in first connecting portion is axially in folder Angle.The direction that first connecting portion refers to towards four, second connecting portion is towards the direction of the palm of the hand, therefore scaphoid bone driving motor control force The length of output line realizes that thumb refers to the movement drawn close to four.

Scaphoid bone attachment base includes the articulated section that pedestal is connected with scaphoid bone, and hinge point is on the basal plane of pedestal, base Face is in outer low and inner high inclined-plane.Refer to outside close to palm of the hand edge.Inclined-plane makes thumb have a natural gradient.

The first part of scaphoid bone attachment base is arranged on the back of the hand skeleton, sets on the back of the hand skeleton for the scheme of second of scaphoid bone Set the second part of scaphoid bone attachment base, the first connecting portion of the first part of nut bone attachment base, second part and scaphoid bone is logical It is hinged to cross pin shaft, pin shaft is equipped with torsional spring；Scaphoid bone driving motor is set in palm.Hand boat is controlled by scaphoid bone driving motor The existing movement close to or far from the palm of the hand of bony process, realizes and grasps.Under natural conditions, thumb refers to four and is substantially flush, similar manpower Natural open configuration.

The cavity of thumb drives motor is equipped in thumb metacarpal.The power output line of thumb finger is drawn from thumb drives motor Afterwards, successively pass through traverse shaft, be finally fixed on remote finger joint.Thumb drives motor is integrated in thumb, realizes the curved of thumb finger Qu Yundong.

The plan of establishment of this scaphoid bone, by the cooperation of scaphoid bone driving motor and thumb drives motor, by it is strong Thumb is concentrated on to palm of the hand direction, greatly improves the finger tip power and whole grip on hand of thumb output.

Scaphoid bone attachment base pin shaft direction four finger directions hinged with scaphoid bone, scaphoid bone and the hinged pin shaft of thumb metacarpal It is parallel with the pin shaft of nearly knucklejoint with thumb metacarpal.Scaphoid bone is realized in this way draws close to palm of the hand direction, if by thumb drives Motor is integrated in the palm, then thumb drives motor can control thumb and close up and be bent to four fingers, is realized and is grasped, is promoted and grasped Power.

The present invention has the advantages that

1, each joint is reduced to two insertion points and a rigidity value by the present invention, passes through insertion point and rigidity value and power Output line is distributed rationally, realizes the proper motion that bionic mechanical is restored to nature limbs in given freedom degree direction, machine Structure it is simple for structure, it is light, it is small in size.

2, digital flexion is driven using stranded power output line, the length of the torque translation bit power output line of motor is become Change, the pulling force that power output line is born is small, it is not easy to it is disconnected, and High power output.

3, finger actuation motor race be all integrated into palm and or finger in, it is entire mechanical to be closely sized into manpower Size, highly integrated, the signal wire and power supply line of finger actuation motor race are drawn from palm, can accomplish plug and play.

4, the kinematic calculating speed of forward and reverse is fast, can satisfy biology minimum energy principle, meets dynamic balance condition, keeps away Exempt from singularity.

Detailed description of the invention

Fig. 1 be by taking a finger as an example, power output line from driving motor draw after all guiding axis and in remote finger joint The fixed schematic diagram of traverse shaft.

Fig. 2 be finger movement model, in original state when schematic diagram.

Schematic diagram when Fig. 3 is the bending of finger movement model.

Fig. 4 is that several existing PCA algorithms compare the analysis result of manipulator.

Power before Fig. 5 is linear fit exports the discrete point diagram between line length and joint angles, and each joint is corresponding One discrete point curve.

Fig. 6 is the power output line after linear fit and the corresponding relationship between joint angles.

Fig. 7 is manipulator of the invention with natural manpower, bebionic brand manipulator in the identical situation of sole mass Under power output performance comparison.

Fig. 8 is the first tool hand from the schematic diagram in terms of the palm of the hand.

Fig. 9 is the schematic diagram that the index finger of the first manipulator is connected with the back of the hand skeleton.

Figure 10 is the schematic diagram that the thumb of the first manipulator is connected with palm of the hand skeleton.

Figure 11 is the schematic diagram of the palm of the first manipulator.

Figure 12 is the schematic diagram of the palm of the hand skeleton of the first manipulator.

Figure 13 is second of manipulator from the schematic diagram in terms of palm of the hand direction.

Figure 14 is second of manipulator from the schematic diagram in terms of the back of the hand direction.

Figure 15 is that second of manipulator removes the schematic diagram after the back of the hand skeleton.

Figure 16 is the schematic diagram that the palm of the hand skeleton of second of manipulator is connected with index finger.

Figure 17 is the schematic diagram that the palm of the hand skeleton of second of manipulator is connected with thumb.

Figure 18 is that the palm of the hand skeleton of second of manipulator is connected, from the schematic diagram in terms of the back of the hand direction with thumb.

Figure 19 is the perspective view that the palm of the hand skeleton of second of manipulator is connected with thumb.

Figure 20 is the third manipulator from the schematic diagram in terms of palm of the hand direction.

Figure 21 is the third manipulator from the schematic diagram in terms of the back of the hand direction.

Figure 22 is the perspective view of the third manipulator.

Figure 23 is the palm of the hand skeleton of the third manipulator from the schematic diagram in terms of the back of the hand direction.

Figure 24 is the palm of the hand skeleton of the third manipulator from the schematic diagram in terms of palm of the hand direction.

Figure 25 is the schematic diagram that the index finger of the third manipulator is connected with palm of the hand skeleton.

Figure 26 is the schematic diagram that the thumb 1 of the third manipulator is connected with palm of the hand skeleton.

Figure 27 is the perspective view that the thumb 1 of the third manipulator is connected with palm of the hand skeleton.

Figure 28 is the back of the hand skeleton of the third manipulator.

Figure 29 is four structures referred to using index finger as representative.

Specific embodiment

Structure of the present invention or technical term used in these are described further below, if without spy It does not indicate, general according to this field is typically belonged to be understood and explained.

PCA Principal Component Analysis

Principal component analysis (PCA) Principal Component Analysis is a kind of method of mathematic(al) manipulation, it One group of given correlated variables is changed into another group of incoherent variable by linear transformation, these new variables according to variance according to The secondary sequence arrangement successively decreased.The total of variable is kept in mathematic(al) manipulationVarianceIt is constant, make the first variable that there is maximum variance, claims For first principal component, bivariate variance time is big, and uncorrelated with the first variable, referred to as Second principal component, and so on.

Power output line

Power output line refers to the twisted wire being connected with driving motor, and at least two sections of twisted wire, the torque of motor output makes two Section twisted wire mutually winds or mutually unclamps, and then changes the physical length of power output line, and realization is moved to by the traction of traction mechanism Make.Every section of twisted wire specifically has several strands, as long as can smoothly be installed on bionic mechanical, meet flexibility requirements.

Bionic mechanical

The function that form, structure and the control principle of mimic biology design and manufacture more concentrates, more efficient and have life The machinery of object feature.Bionic mechanical herein refers to the natural limb motion for rebuilding people, including but not limited to: mechanical Hand, finger, mechanical arm can be worn over the restoring gloves that finger movement is driven on the manpower of lost-motion function, and fortune is lost in driving The arm rehabilitation articles of arm motion etc. of motivation energy.

A kind of bionic mechanical, as shown in Figure 1, having at least one driving motor R, each driving motor R has respective Tractive unit, is arranged power output line B between driving motor R and tractive unit and multiple traverse shaft A, power output line B include at least two sections The line segment that can mutually wind, power one end output line B fixes with tractive unit, the output end of the other end and driving motor R are fixed.

The torque of driving motor R output is transferred to power output line B, and power output line B mutually winds or mutually unclamps, and power is defeated The length of outlet B changes, so that tractive unit be made to be displaced, entire trailed structural bending or stretches.As power output line B When resisting traverse shaft A, power output line B turns from the traverse shaft A resisted, also drives and is bent by traction mechanism.

Bionic mechanical kinematic optimization method based on joint insertion point

The optimization method is designed to provide a kind of harmonious Biological Strength transmitting realized to mechanism kinematic, and realization meets life The proper motion of material resources avoids the occurrence of traverse shaft location A and the spring rate optimization side of the movement for violating natural biology movement Method.

The traverse shaft location A optimization method can be used for lost-motion function manpower and or arm, with connecting rod and spring weight Manipulator, mechanical arm for building etc..These structures are referred to as by traction mechanism herein.It is virtually with connecting rod by traction mechanism With the connecting rod model of elastic hinge.For manipulator and mechanical arm, using manipulator, mechanical arm connecting rod as connecting rod, it is mechanical Hand, mechanical arm joint be elastic hinge.For the manpower of lost-motion function, arm, using hand bone as connecting rod, to close Section is used as elastic hinge.

Concrete scheme includes: to obtain nature limb motion database, as shown in Figures 2 and 3, establishes and moves to natural limbs Model, in the motion model of natural limbs, bone is as connecting rod, and joint C is as elastic hinge, and tendon is as power output line B, often The parameter in a joint includes the rigidity of tendon length l and joint C, using positive inverse kinematics obtained from right limbs tendon amount of exercise △ Relationship l=f (θ between l and joint angles θ_i)。

Using PCA algorithm, the dimension direction of the first principal component of nature limbs, and the tendon under the dimension direction are obtained The relationship and the proportionate relationship when there is multiple joint C, between multiple joint C angles of amount of exercise △ l and joint C angle, θ. As shown in figure 4, PCA algorithm is a kind of existing algorithm, three principal component directions that different PCA algorithms moves bionic mechanical It is almost the same to analyze result.As shown in figure 5, obtaining the map discrete curve of relationship between each joint C angle and power output line B. Fig. 6 is that the discrete point of Fig. 5 is in line by linear regression fit.

It establishes by the motion model of hitch structure, the freedom of motion of motion model is constrained in the dimension of first principal component Direction, motion model include the elastic hinge and power output line B between connecting rod, adjacent links, the parameter packet of each elastic hinge The position of two insertion points and the rigidity of spring 12 are included, the power output line B length between two insertion points indicates tendon length；

Using spring rate and tendon length as input, using the angle of each joint C as output, with flesh in motion model In relationship and natural limbs between tendon amount of exercise △ l and joint C angle, θ between tendon amount of exercise △ l and joint C angle, θ Relationship gap minimum constantly adjusts insertion point position and spring rate, iterative calculation, until target is reached as target；Output Insertion point position and spring rate, traverse shaft location A and spring rate optimization are completed.As shown in Figure 1, traverse shaft location A determines, Power output line B successively passes through all traverse shaft A.

The core of this method is by each joint be virtually two insertion points and a joint rigidity value；The tool of insertion point Body surface shows tendon length.

Positive inverse kinematics model obtains the relationship of tendon amount of exercise △ l and joint angles θ, positive kinematics model are as follows:Wherein, J indicate rotational transformation matrix, Indicate tendon in the amount of exercise of the dimension；

Inverse kinematics model are as follows: J⁺=(J^TJ+λ²W^TW)^-1, J⁺Rotational transformation matrix after indicating weighting, the weight of weighting are W spring rate；WhenIt obtains The relationship of tendon amount of exercise and joint angles.

The acquisition methods of proportionate relationship when multiple joint C, between multiple joint C angles are: tendon amount of exercise △ l with The relationship of joint C angle, θ establishes curve graph, using tendon length l as abscissa, using angle value as ordinate, and each joint The curve that there is angle a joint C angle to be changed according to tendon length in this coordinate system；

A selected joint is established using the angle in benchmark joint as abscissa, angle value is ordinate as benchmark joint C Two-dimensional coordinate system, obtain the curve of each joint C relative datum coordinate, slope of a curve indicates the angle and base of joint C Proportionate relationship between the angle of quasi- joint C.Proportionate relationship between the angle of joint C and the angle of benchmark joint C more approaches The angle proportionate relationship that PCA analysis obtains then illustrates the motion model closer to the movement of natural limbs.If the angle in joint with The angle proportionate relationship that proportionate relationship between the angle of benchmark joint C is obtained further away from PCA analysis, then with approach PAC it is main at The result that analysis obtains is target, adjusts the relative position of insertion point.

In some embodiments, the case where being finger by traction mechanism, finger movement model is established, finger includes close finger Section-metacarpal joint MCP, the nearly finger joint-middle finger joint joint PIP and remote finger joint joint D IP of middle finger joint-, each joint has respective Two insertion points.

By taking finger as an example, detailed optimization process:

As shown in Figures 2 and 3, finger is simplified to phalanges-joint model, using phalanges as connecting rod, with nearly finger joint-metacarpal bone Joint is MCP, and nearly finger joint-middle finger joint joint is PIP, and the remote finger joint joint of middle finger joint-is DIP；Each joint model includes two Insertion point [x_i,y_i], joint stiffness w_i；

Positive kinematics model isIts essence is Taylor expansion Take first order；

Inverse kinematics model isWhereinIndicate Jd θ withIt approaches, min (λ²| | d θ | |) it indicates to avoid the singularity of model；Inverse kinematics model is substituted into weight, is rewritten are as follows:WhenObtain tendon amount of exercise and the angle joint C The relationship of degree.

Optimization process are as follows: using spring 12 in the raw, the state of power output line B extended naturally as original state, With the joint angles of original stateAs input value, with power output line B length and insertion point position (L_i, [x_i,y_i]) as variable input quantity, with the actual angle of joint CAs output valve, input in forward and reverse motion model, when | | Dl | | > ε is to makeConstantly It updates with power output line B length and insertion point position (L_i,[x_i,y_i]), until | | dl | |≤ε, output are currently inserted into a position.

Finger or bionic mechanical hand are reduced to finger connecting rod model, in connecting rod model, (for example phalanges, hand bone refer to bone Bone model etc.) it is connecting rod, the joint between adjacent bone is elastic hinge.Finger and handle herein can be to be lost in self-heating human body The finger and arm for losing motor function, are also possible to the artificial limb and artificial hand rebuilded using mechanical structure.

In some embodiments, when finger structure applied to manipulator, rigidity W is the rigidity of torsional spring, and rigidity is as can Variable, with insertion point position together as variable input value.It can be seen from figure 7 that bebionic brand manipulator, natural person The Unit Weight and power output performance of hand and manipulator of the invention are generally on same performance curve, power output performance base This is consistent.

In some embodiments, the patient of finger motion function, such as stroke patient are lost, the movement of finger is no longer by big Brain controls, the muscle rigidity at finger-joint, the muscle rigidity degree of the different joints of the same root finger of the same patient Difference, therefore when the insertion point traverse shaft A for carrying out gloves optimizes, the joint stiffness W in biomechanical model is different.

When the finger structure of the manpower applied to lost-motion function, rigidity W is the practical stiffness of finger-joint；Rigidity W It is inputted as fixed value, only insertion point position is as variable input value.Before optimization calculates, to each finger rigidity of patient It measures.The rigidity in manpower joint can obtain the angle of joint C by given known power, measurement, calculate and obtain joint Rigidity W uses the prior art by way of known force and angle calculation rigidity.

When manpower rehabilitation applied to lost-motion function, finger is in addition to the grippage that loses the initiative, generally also with funeral The ability of the dynamic stretching, extension of the owner of lost property, therefore, in rehabilitation tool can also be arranged the mechanism for upholding finger, be upheld using elastic component as finger Mechanism when, power output line B draw finger grip when, joint stiffness be compounded with elastic component effect joint C equivalent stiffness.? That is carrying out finger-joint rigidity test when elastic component is in running order.

It in some embodiments, is arm by traction mechanism, arm motion model includes elbow joint；Elbow joint includes two Insertion point and a joint stiffness.

Arm motion model includes shoulder joint, and shoulder joint is universal joint, the direction of motion of shoulder joint is first determined, if shoulder joint Consistent with the direction of motion of elbow joint, the input value of arm motion model includes a pair of of shoulder joint insertion point, shoulder joint rigidity, and A pair of of elbow joint insertion point and elbow joint rigidity.

Manipulator

The embodiment is designed to provide a kind of shape and structure close to manpower, and can be realized apery hand and grab naturally It holds, the structure of the big bionic mechanical hand of grip.

As shown in figure 8, a kind of bionic mechanical hand, has palm, thumb 1, index finger 2, middle finger 3, the third finger 44 and little finger of toe 5. Index finger 2, middle finger 3, the third finger 4 are consistent with the structure of little finger of toe 5, are respectively provided with respective nearly finger joint J, middle finger joint Z and remote finger joint Y, As shown in figure 29, nearly finger joint J and palm are hinged；Each joint has respective couple of conductor axis A and between insertion point Spring；Each finger has respective driving motor R and power output line B, each power output line B can be mutual including at least two sections Traverse shaft A that each power output line B successively passes through on finger, the line segment of winding is distally fixed with the traverse shaft A on remote finger joint Y, The other end of line segment is fixed with motor output end.

When motor output torque, line segment is mutually wound twisted wire, and the length of line segment shortens to form pulling force to finger tip, Occur relative motion between each finger joint of finger, and then realize digital flexion, realizes the grasping movement of hand.In finger structure, Other than phalanges, hinge and spring, no setting is required

The rigidity of insertion point and spring determines by above-mentioned optimization method, driving motor obtained as PCA analytic approach The driver in one principal component direction.The effect of PCA analytic approach is the movements of natural limbs carrying out dimensional analysis, later, When carrying out bionic mechanical design, driver is set for the principal component direction that PCA analytic approach obtains.Driver is more, recovery Natural limb motion is more comprehensive.

As shown in figure 29, each finger is equipped with the wire casing 11 of acceptance output line B, is equipped with traverse shaft A along wire casing 11, leads The both ends of spool A are fixed with wire casing 11 respectively；The space across traverse shaft A and wire casing 11 power output line B.

According to the physiological structure of manpower, the kinematics of finger is reduced to the link mechanism driven by power output line B, finger Bone is considered as rigid link, and the ligament and tendon between connection maniphalanx are considered as the elastic hinge for having rigidity, a series of The insertion point traverse shaft A position and power output line B fixed point position determine power output line B drive finger how to move. Therefore, it is necessary to be modeled to power output line B and traverse shaft A, with understand power output line B length and finger movement state it Between relationship.

The position of traverse shaft A determines after insertion point and stiffness optimization calculate, and position is stablized, so that manipulator be made to make After the completion of work, the bending degree of finger can be controlled by calculating the length of power output line B, realized to digital flexion, hand The accurate control of grasp motion.

As shown in figure 8, traverse shaft A includes mandrel and wear sleeve, wear sleeve covers outside mandrel.The finger of mandrel and place Section is fixed, wear sleeve and mandrel tight fit.Wear sleeve reduces the frictional force that power output line B is subject to, and to power output line B Lubricating action is played, the abrasion, fracture of reduction power output line B as far as possible extends the service life of power output line B.

As shown in figure 9, joint includes a pair of of insertion point and is sleeved on torsional spring 12 in pin shaft.Torsional spring 12 includes coil spring part With the outwardly extending stabilizer blade in both ends, each stabilizer blade is individually fixed in corresponding finger joint.Rigidity of the rigidity of torsional spring as joint is turned round Spring is easy for installation.

As shown in Figure 10, the joint between nearly finger joint J and palm is equipped with the first reed, between nearly finger joint J and middle finger joint Z Joint be equipped with the second reed, joint between middle finger joint Z and remote finger joint Y is equipped with third reed；Each reed is equipped with Sensor.With the method and structure of reed and sensor acquisition joint angles, using the prior art.

Motor output shaft is equipped with cable-through hole, and power output line B is the becket bridle across cable-through hole.With becket bridle and motor output shaft knot One end of conjunction is fixed as proximal end, the distalmost end of becket bridle with remote finger joint Y, and when motor output torque, becket bridle forms twisted pair, and power is defeated The length of outlet B changes.

Power output line B mono- passes through the rope of cable-through hole, and two ends of rope, which combine, closes power output line B formation one Remote finger joint Y is fixed in two ends of ring, rope.

Cable-through hole is the ring being fixed on motor output shaft, or the through-hole being provided on motor output shaft.

Power output line B is fixed on by remote finger joint Y by compressing member on remote finger joint Y；Alternatively, setting distal end is led on remote finger joint Y Spool A, becket bridle bypass distal guidewire axis A.Power output line B undertakes pulling force, the stretching that becket bridle is directly subject in the form of twisted pair Deformation is smaller, it is not easy to be broken, and High power output.

Remote finger joint Y, middle finger joint Z and nearly finger joint J are made of respective skeleton and flexible pad 13 respectively, and adjacent skeleton is by bullet Property hinge connection, wire casing 11 is opened on skeleton, and flexible pad 13 is covered on skeleton, and flexible pad covers in part wire casing 11.Bone Frame is equivalent to phalanges, and flexible pad 13 is equivalent to the muscle on finger.Flexible pad 13 covers wire casing 11, prevents foreign matter from entering wire casing 11 And power output line B is impacted.

Have lubricating oil or lubricating grease or colloid on power output line B, and or protective film, and or protective layer.It is exported in power Some oil is coated on line B, can be enhanced the toughness of power output line B, be prolonged the service life.

Power output line B passes through the becket bridle formed after cable-through hole at the position close to motor output shaft, and the line segment of becket bridle is tied up Together.For example, the line segment of cable-through hole two sides knots after power output line B passes through cable-through hole.In this way, when motor output torque, often The starting point of secondary line segment winding is identical, also, the trend that separates naturally for avoiding the line segment of cable-through hole two sides transmits torque Influence, improve the effective rate of utilization of Motor torque, and then improve through control motor come the control to power output line B length.

The bionic mechanical hand of non-jitter

It finds during the experiment, when in the form of twisted wire as power output line B, the case where finger will appear shake.This A kind of bionic mechanical hand for being designed to provide power output line B for using twisted wire form of embodiment prevents finger from shaking Structure.

As shown in figure 27, the path of power output line B passed through is equipped with beam splitting part 6, and the line segment of power output line B winding is dividing It is separated at bundle 6.The torque of motor output makes the line segment of power output line B be intertwined, and then becomes the length of power output line B Change, so that the distance between remote finger joint Y and palm is changed, therefore finger bends.The winding of line segment can be such that finger is transporting Shake is generated when dynamic, is unfavorable for grasping.

As shown in figure 25, beam splitting part 6 is set to nearly finger joint J；Or beam splitting part 6 is set to palm 7, each finger has each From beam splitting part 6, beam splitting part 6 be rigid member.It is found after overtesting, be arranged after beam splitting part 6, beam splitting part 6 is by Motor torque Beam splitting part 6 arrives this section of motor in active set, and what beam splitting part 6 had interrupted that Motor torque makes line segment actively wind trend, is isolated Influence of the torque of line segment winding to middle finger joint Z, remote finger joint Y, avoids finger shake.Rigid member referred to herein, refers to Form stable, it is not easy to which deformation occurs；And and nisi rigidity or hardness.

Each finger is equipped with the wire casing 11 of acceptance output line B, and beam splitting part 6 is located in the wire casing 11 of nearly finger joint J, beam splitting There is gap between part 6 and the cell wall of wire casing 11.The gap allows power output line B to pass through, and the line segment of power output line B passes through beam splitting part After 6 separation, continue to form twisted wire with natural canoe in the distal end of beam splitting part 6, the twisted wire stress distribution wound naturally is certainly So, finger will not be shaken because of the torque of motor output.

Beam splitting part 6 is the fairing partition of the axial centerline centering with wire casing 11.Beam splitting part 6 can be separated and is intertwined Line segment, and will not drag transmitting.

Beam splitting part 6 is proximally and distally in round and smooth curved surface respectively.Beam splitting part 6 is proximally and distally dome.It is round and smooth Curved surface can either be round and smooth to power output line B guiding, still avoid mutually cutting between beam splitting part 6 and power output line B, ensure The service life of power output line B.

There are two traverse shaft A, beam splitting part 6 to be located between two traverse shaft A for tool in the wire casing 11 of nearly finger joint J.Remote finger joint Y's Length is abundant, and beam splitting part 6 is placed on more suitable than being placed on space in palm between two traverse shaft A.Also, power output line B is to torque Transmitting distance also require, if beam splitting part 6 is placed in palm, the power output line B influenced by Motor torque is shorter, is easy to appear Power output line B twists disconnected problem.Beam splitting part 6 is placed in nearly finger joint J, power output line B is suitble to by the length of Motor torque, can The effectively torque of transmitting motor, and reduce power output line B and twist disconnected problem.

Beam splitting part 6 and two traverse shaft A be equidistant or beam splitting part 6 close to proximal end traverse shaft A.In this way, beam splitting Influence of the part 6 to torque transfer is minimum, and finger is not shaken.

6 one of nearly finger joint J and beam splitting part, beam splitting part 6 are higher than traverse shaft A.The height needs of beam splitting part 6 are sufficiently high, thus Power output line B is limited in the region lower than beam splitting part 6 by traverse shaft A, and power output line B is avoided to be detached from beam splitting part 6.

Highly integrated bionic mechanical hand

This programme be designed to provide it is a kind of driving motor can be all integrated into it is highly integrated imitative in palm Raw manipulator.

As shown in Figure 20 and Figure 23, palm 7 includes the back of the hand skeleton 71A and palm of the hand skeleton 72A, the back of the hand skeleton and palm of the hand skeleton Accommodating chamber is formed, is equipped with finger actuation motor race in accommodating chamber, finger actuation motor race includes index finger motor, middle finger motor, nothing Name refers to motor and little finger of toe motor, index finger motor, middle finger motor, nameless motor and little finger of toe motor output shaft be respectively aligned to respectively Corresponding finger；Power output line B and the output shaft of finger actuation motor are fixed；A traverse shaft A of nearly finger joint-metacarpal joint It is located in palm in nearly finger joint J, another traverse shaft A.

From the anatomical structure of the palm bone of people it is found that in the palm of people have 5 metacarpal bones, each metacarpal bone with it is corresponding Maniphalanx is linked to be the line hinged by joint, and metacarpal bone is connected with nearly finger joint J by joint.By index finger motor, middle finger motor, unknown Refer to that motor and little finger of toe motor are arranged according to the relatively respective finger in direction of metacarpal bone, that is, in palm model, finger actuation Motor selects miniature low-range reduction motor.

As shown in Figure 18 and Figure 19, there are index finger motor installation position 1-1, middle finger motor installation position 2-1, the third finger in accommodating chamber Motor installation position 3-1 and little finger of toe motor installation position 4-1, the fixed corresponding finger actuation motor in each motor installation position, each motor Installation position is equipped with the through-hole K for allowing motor output shaft to pass through and be freely rotated.Each motor installation position includes a respective opposite side Plate 14 and distal end baffle 15, through-hole K are set to distal end baffle 15, and the proximal end of motor installation position is opening.Index finger motor, middle finger electricity Machine, nameless motor and little finger of toe motor are respectively equipped with limit assembly, when motor is installed on motor installation position, limit assembly limitation electricity Machine is with respect to the rotation of motor installation position.

For example, motor and motor installation position are fixed by modes such as fastener, bondings, then fastener, bonded structure It can be used as limit assembly.Index finger motor, middle finger motor, nameless motor and little finger of toe motor have deceleration mechanism, deceleration mechanism Pedestal have and the matched motion-stopping surface in motor installation position.For example, deceleration mechanism is gear reduction unit, the pedestal of gear reduction unit In cuboid or square, gear reduction unit together with finger actuation motor combination, be put into motor installation position, The gear deceleration The side of the pedestal of device is bonded with the side plate of motor installation position respectively, limits finger actuation motor with respect to the rotation of motor installation position. Set open for the proximal end of motor installation position, convenient for motor to be put into motor installation position.

It needs to realize between palm 7 and index finger 2, middle finger 3, the third finger 4 and little finger of toe 5 hingedly, therefore needs to be arranged on palm 7 With index finger 2, middle finger 3, the third finger 4 and little finger of toe 5 connecting portion.

The highly integrated bionic mechanical hand of the first scheme

In some specific embodiments, nearly finger joint-metacarpal joint is located at the traverse shaft in palm and is located at finger actuation electricity Between machine and nearly finger joint-metacarpal joint.That is, the traverse shaft A of the position of finger actuation motor and nearly finger joint-metacarpal joint It is unrelated, it is only necessary to which that power output line B passes through traverse shaft A, reduces the positioning accuracy request to finger driving motor.

The back of the hand skeleton is equipped with the interconnecting piece hinged with finger, and palm of the hand skeleton 72A is equipped with finger corresponding with interconnecting piece Slot 74；Skeleton traverse shaft A of the palm of the hand skeleton equipped with power output line B, skeleton traverse shaft A be located at finger actuation motor with it is corresponding Between finger.Space needed for finger groove on palm of the hand skeleton 72A provides finger movement, also, the finger on palm of the hand skeleton 72A Slot 74 also limits the extreme position of finger movement, and finger is prevented to occur not meeting moving excessively for biological law.

As shown in figure 11, interconnecting piece 75 is set to the distal end of the back of the hand skeleton 71A, is equipped with distal end between adjacent interconnecting piece 75 Plate, distal plate are flushed with the remote edge of the back of the hand skeleton；Finger groove 74 is set to the distal end of palm of the hand skeleton, adjacent finger groove it Between be equipped with lattice 76, when the back of the hand skeleton and palm of the hand skeleton combine, lattice 75 and distal plate separate each finger groove.

As shown in figure 12, it is solid by screw to be set to the back of the hand skeleton, palm of the hand skeleton and the back of the hand skeleton for all motor installation positions It is fixed；Countersunk screw holes 77 are set on palm of the hand skeleton, screw hole column 78 is set in the back of the hand skeleton, screw hole column 78 and countersunk screw holes 77 1 are a pair of It answers.The scheme that the position of this structure cooperation finger actuation motor is unrelated with the traverse shaft A of nearly finger joint-metacarpal joint uses, hand Spine frame and palm of the hand skeleton are to provide the activity space of finger, this mode of grooving is simple, and hand from edge to internal recessing The outer surface of metacarpal bone frame and palm of the hand skeleton is smooth, beautiful.But its drawback is that needing to be arranged power output line B's on palm Traverse shaft A needs the traverse shaft A on palm when realizing the threading of power output line B, threads slightly complicated.

The highly integrated bionic mechanical hand of second scheme

In some embodiments, the fixed part of motor output shaft and power output line B are located at hand as nearly finger joint-metacarpal joint Traverse shaft A in the palm.In this way, traverse shaft location A in palm is after optimization is calculated and determined, the position of finger actuation motor It decides.The threading of this scheme, power output line B is simple, but to the positioning accuracy request of finger driving motor height.

The fixed part of this scheme cooperation motor output shaft and power output line B are located at palm as nearly finger joint-metacarpal joint The scheme of interior traverse shaft A uses.Palm of the hand skeleton 72A is equipped with the link block hinged with finger, and link block is from palm of the hand skeleton Distal end to the convex block far extended, have distance between link block, hinge is arranged in the distal end of link block, and link block is equipped with limit Face；Wire guide, the corresponding wire guide of each link block are opened up on palm of the hand skeleton.

The distal end of link block and finger are hinged, and after finger movement to contact confined planes, nearly finger joint J can not be again to close to palm Direction movement, confined planes prevent finger movement occurred, so that the movement of manipulator is met ergonomics.Power output line B is from electricity After machine output shaft is drawn, wire guide is passed through, then therefore passes through the traverse shaft A on finger.The position of cable-through hole on motor output shaft The position with wire guide is set, traverse shaft A is can also be used as and is included in aforementioned optimized allocation and calculate optimal location, to obtain height Bionical degree, the finger control for meeting biomethanics and biological motion form.Link block is formed with corresponding finger actuation motor and is slapped Bone model.

As shown in figure 13, palm of the hand skeleton forms the accommodating chamber for accommodating finger actuation motor race, and the back of the hand skeleton is cover board, the palm of the hand The back side of skeleton is equipped with to be open with the accommodating chamber of the back of the hand skeleton track, is in step between link block and palm of the hand skeleton, wire guide is set It is placed on step.That is, link block is lower than palm of the hand face；When nearly finger joint J touches confined planes, nearly finger joint J and palm of the hand bone Still there is gap between frame, to the cushion leaving space of nearly finger joint J.

Confined planes are inclined-plane, and proximal end is compared closer to the back of the hand in the distal end of confined planes.When finger movement is to limit face contact, Finger is slightly slanted, and meets the movement of nature finger.

As shown in figure 14, finger joint confined planes, finger joint confined planes are respectively set in the distal end of nearly finger joint J and the distal end of middle finger joint Z In remote low nearly high inclined-plane.It is height close to the palm of the hand to be low close to the back of the hand.The purpose of finger joint confined planes is also to be bent finger joint When the limit, in the state being slightly slanted, meet ergonomics and biomethanics.

The hinge point of nearly finger joint J in the articulated section of link block, run through by two articulated section clearance fits, two articulated sections There is pin shaft, is socketed torsional spring on pin shaft；The articulated section edge of link block is arc-shaped.Arc-shaped edge is avoided in articulate mistake It is interfered in journey.

As shown in Figure 15 and Figure 16, the motor installation position of index finger driving motor, the motor installation position of 3 driving motor of middle finger, The motor installation position of 5 driving motor of motor installation position and little finger of toe of nameless 4 driving motors respectively with respective link block centering, Position of the position of each motor installation position as motor output shaft, as shown in figure 17, when traverse shaft A optimizes and distributes, motor Installation position is included in optimized allocation as traverse shaft A of the nearly finger joint-metacarpal joint in the palm.As shown in figure 18, motor is pacified Position is filled as the traverse shaft A on power output line B, after the distribution optimization of position, it is ensured that can be accurate by the length of power output line B Control the flexure operation of finger, also, the bending shape of finger during optimizing distribution it has been determined that avoiding finger from going out The discord harmonic motion of biomethanics is not met now.

As shown in figure 19, each motor installation position includes respective a pair of side plates 14 and distal end baffle 15, side plate perpendicular to Palm of the hand skeleton is simultaneously connected with palm of the hand skeleton, and through-hole K is set to distal end baffle 15, and the proximal end of motor installation position is opening；Finger drives Dynamic motor and 14 tight fit of side plate.

Finger actuation motor race uses the motor with retarder, and retarder has a rectangular bracket, motor installation position with The bracket tight fit of retarder.

The advantages of organization plan of this finger and palm, is: only needing finger actuation motor installation position, power output line B It directly through the wire guide K on palm of the hand skeleton, then sequentially passes through between traverse shaft A and finger skeleton, the cloth of power output line B It sets simple.

Thumb structure

The purpose of the present embodiment is that providing a kind of high integration that can be realized digital flexion and 1 metacarpal bone of thumb and swing The structure of thumb 1.

As shown in figure 20, thumb 1 has thumb finger and scaphoid bone, and thumb finger includes 1 metacarpal bone of thumb, nearly finger joint J and Remote finger joint Y, 1 metacarpal bone of thumb is hinged by elastic hinge with nearly finger joint J, and nearly finger joint J and remote finger joint Y is hinged by elastic hinge； Thumb finger is equipped with traverse shaft A, and thumb finger has corresponding 1 driving motor of thumb, and power output line B is from 1 driving motor of thumb Successively pass through traverse shaft A after extraction, remote finger joint Y is fixed in the distal end of power output line B；Scaphoid bone and palm 7 are hinged, scaphoid bone tool There is scaphoid bone driving motor.

Scaphoid bone driving motor makes scaphoid bone around its hinge axis, thus realize thumb 1 to other four refer to it is close dynamic Make, thumb 1 and other fingers cooperate, and realize grasp motion.

Cushion is covered in opening on palm of the hand skeleton.Cushion is equivalent to palm muscle, plays the role of anti-skidding and buffering.

1 metacarpal bone of thumb is connected by scaphoid bone with the back of the hand skeleton 71A, and the back of the hand skeleton 71A is equipped with scaphoid bone attachment base, hand Nut bone includes the first connecting portion hinged with scaphoid bone attachment base and the second connecting portion hinged with 1 metacarpal bone of thumb, scaphoid bone Power output line B is tied up in second connecting portion.

The structure that the first thumb is connected with palm, as shown in figure 21, the scheme of scaphoid bone driving motor are as follows: scaphoid bone The proximal end of power output line B passes through the output shaft of scaphoid bone driving motor, and distal end is arranged on scaphoid bone；It is set on palm of the hand skeleton 72A Opening is set, thumb 1 is in the region of the opening.Scaphoid bone driving motor makes power output line B mutually wind or mutually unclamp, thus Change the distance between power output line B, reach the angle of adjustment scaphoid bone, realizes control 1 palm opposite movement angle of thumb Purpose.The advantage of this structure is structure is simple, scaphoid bone motor can be inherited in palm, and the requirement to motor R is relatively It is low, using the motor with the same model of finger actuation motor.

The first part of scaphoid bone attachment base is set on the back of the hand skeleton 71A, scaphoid bone attachment base is set on the back of the hand skeleton 71A Second part, the first connecting portion of the first part of nut bone attachment base, second part and scaphoid bone is hinged by pin shaft, pin shaft It is equipped with torsional spring 12；Scaphoid bone driving motor is set in palm 7.By scaphoid bone driving motor control scaphoid bone realize it is close or Movement far from the palm of the hand is realized and is grasped.Under natural conditions, thumb 1 refers to four and is substantially flush, the natural opening shape of similar manpower State.

As shown in figure 26, the cavity of 1 driving motor of thumb is equipped in 1 metacarpal bone of thumb.The power output line B of 1 finger of thumb from After 1 driving motor of thumb is drawn, successively passes through traverse shaft A, be finally fixed on remote finger joint Y.1 driving motor of thumb is integrated in thumb In 1, the bending motion of thumb finger is realized.

The plan of establishment of this scaphoid bone, by the cooperation of 1 driving motor of scaphoid bone driving motor and thumb, by it is strong Thumb 1 is concentrated on to palm of the hand direction, greatly improves the finger tip power and whole grip on hand of the output of thumb 1.

Scaphoid bone attachment base pin shaft direction four finger directions hinged with scaphoid bone, scaphoid bone and the hinged pin of 1 metacarpal bone of thumb Axis is parallel with the hinged pin shaft of nearly finger joint J with 1 metacarpal bone of thumb.Scaphoid bone is realized in this way draws close to palm of the hand direction, if by thumb 1 Driving motor is integrated in the palm, then 1 driving motor of thumb can control thumb 1 and close up and be bent to four fingers, is realized and is grasped, mentions Rise grip.

The structure that second of thumb is connected with palm, in some embodiments, the connection structure of scaphoid bone and palm: first The axial pin shaft with second connecting portion of pin shaft in interconnecting piece is axially in angle.The direction that first connecting portion refers to towards four, the Two interconnecting pieces are towards the direction of the palm of the hand, therefore the length of scaphoid bone driving motor control force output line B, realization thumb 1 refer to four The movement drawn close.

Scaphoid bone attachment base includes the articulated section that pedestal is connected with scaphoid bone, and hinge point is on the basal plane of pedestal, base Face is in outer low and inner high inclined-plane.Refer to outside close to palm of the hand edge.Inclined-plane makes thumb 1 have a natural gradient.

In some embodiments, there are also a kind of schemes for scaphoid bone driving motor for the structure that the third thumb 1 is connected with palm 7 Are as follows: hinge pin of the output shaft of scaphoid bone motor as scaphoid bone and palm.Fixing seat, fixing seat and hand are set on palm 7 Nut bone motor housing is fixed；Through-hole K, through-hole K and scaphoid bone motor housing gap is arranged close to one end of fixing seat in scaphoid bone Cooperation；The other end of scaphoid bone and the output shaft of scaphoid bone motor are fixed.In this way, it is solid to be fixed seat with the shell of scaphoid bone motor Fixed, fixing seat and palm 7 are fixed, and the output shaft output torque of scaphoid bone motor realizes the rotation of scaphoid bone palm opposite 7.Control The rotational angle of scaphoid bone motor output processed is the angle of the relatively close or separate palm 7 of controllable thumb 1, controls simple, essence Really, but to the volume requirement of motor R height, it is necessary to select the motor that can be integrated on palm.

Opening on palm of the hand skeleton provides the activity space of thumb 1.In the bone structure of thumb 1, including nearly finger joint J and far finger Save Y, and 1 metacarpal bone of thumb in palm.But 1 metacarpal bone of thumb is different from the metacarpal bone of other four fingers, in natural palm In, 1 metacarpal bone of thumb has motor function, therefore, in the present solution, 1 metacarpal bone of thumb is arranged except palm, to realize thumb 1 The biological motion function of metacarpal bone.1 driving motor of thumb passes through the swing that power output line B drives thumb 1 close to or far from the palm of the hand, with And the bending motion of thumb 1.

In the case where lacking any element specifically disclosed herein, limitation, may be implemented illustrated and described herein Invention.Used terms and expressions method is used as the term of explanation rather than limits, and is not intended in these terms and table Up to any equivalent for excluding shown and described feature or part thereof in the use of method, and it should be realized that various remodeling exist It is all feasible in the scope of the present invention.It is therefore to be understood that although specifically being disclosed by various embodiments and optional feature The present invention, but the modifications and variations of concept as described herein can be used by those of ordinary skill in the art, and recognize It is fallen into for these modifications and variations within the scope of the present invention of the appended claims restriction.

It is described herein or record article, patent, patent application and every other document and can electronically obtain The content of information to a certain extent in full include herein by reference, just as each individual publication by specific and single Solely point out by reference.Applicant retains from any of any this article, patent, patent application or other documents And all material and information are incorporated into the right in the application.

Claims (9)

1. a kind of bionic mechanical hand of non-jitter, it is characterised in that: at least one driving motor, each driving motor have respective Tractive unit, power output line and multiple traverse shafts are set between driving motor and tractive unit, and power output line includes at least two sections of energy Enough line segments mutually wound, power output line one end fixes with tractive unit, the output end of the other end and driving motor is fixed；Power output The path that line passes through is equipped with beam splitting part, and the line segment of power output line winding separates at beam splitting part.

2. the bionic mechanical hand of non-jitter as described in claim 1, it is characterised in that: beam splitting part is set to nearly finger joint；Or Beam splitting part is set to palm, and each finger has respective beam splitting part, and beam splitting part is rigid member.

3. the bionic mechanical hand of non-jitter as claimed in claim 1 or 2, it is characterised in that: each finger is equipped with acceptance The wire casing of output line, beam splitting part are located in the wire casing of nearly finger joint, have gap between beam splitting part and the cell wall of wire casing.

4. the bionic mechanical hand of non-jitter as claimed in claim 3, it is characterised in that: beam splitting part is the axial centerline with wire casing The fairing partition of centering.

5. the bionic mechanical hand of non-jitter as claimed in claim 4, it is characterised in that:, beam splitting part is proximally and distally distinguished In round and smooth curved surface.

6. the bionic mechanical hand of non-jitter as claimed in claim 5, it is characterised in that: beam splitting part is proximally and distally circle Top.

7. the bionic mechanical hand of non-jitter as claimed in claim 6, it is characterised in that: there are two lead tool in the wire casing of nearly finger joint Spool, beam splitting part are located between two traverse shafts.

8. the bionic mechanical hand of non-jitter as claimed in claim 7, it is characterised in that: beam splitting part is at a distance from two traverse shafts Traverse shaft of the equal or beam splitting part close to proximal end.

9. the bionic mechanical hand of non-jitter as described in claim 1, it is characterised in that:, nearly finger joint and beam splitting part one, beam splitting Part is higher than traverse shaft.