CN111300477B - Bionic wrist, bionic hand and mechanical arm - Google Patents
Bionic wrist, bionic hand and mechanical arm Download PDFInfo
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- CN111300477B CN111300477B CN202010147523.4A CN202010147523A CN111300477B CN 111300477 B CN111300477 B CN 111300477B CN 202010147523 A CN202010147523 A CN 202010147523A CN 111300477 B CN111300477 B CN 111300477B
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- sliding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The application provides a bionic wrist, a bionic hand and a mechanical arm, wherein the bionic wrist comprises a first base body, a second base body and at least one connecting assembly; the first base body is provided with a rotary part, the second base body is provided with a rotary cavity, the rotary part is inserted into the rotary cavity, one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with a sliding groove, the other one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with at least one connecting hole, and the connecting hole is opposite to the sliding groove; coupling assembling includes slider and mounting, and the slider is located the connecting hole, and the slider can move along the connecting hole and be in the spout butt, when the slider move to with the spout butt, the bionical wrist of extending direction of spout removal is followed to the slider to make the gyration portion rotate around the axis in gyration chamber. The application provides a bionic wrist, when fixed bionic wrist, but first base member of bionic wrist and second base member relative rotation.
Description
Technical Field
The application relates to the technical field of myoelectricity bionics, in particular to a bionic wrist, a bionic hand and a mechanical arm.
Background
The bionic hand can serve people with disabled or dysfunctional upper limbs and can also be applied to robots. With the development of science and technology, the technology of bionic hands is rapidly developed. From an initial tool hand, a cosmetic artificial limb is developed to a single degree of freedom myoelectricity bionic hand and then to a multiple degree of freedom myoelectricity bionic hand.
The bionic hand may include a bionic five fingers, a bionic palm, and a bionic wrist. The bionic five fingers comprise a thumb, an index finger, a middle finger, a ring finger and a little finger, the bionic five fingers are sequentially connected with one end of the bionic palm, and the other end of the bionic palm is connected with the bionic wrist. The bionic wrist comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is used for being connected with the bionic palm, and the second connecting piece is used for being connected with an arm. The first connecting piece is inserted into the second connecting piece, and the first connecting piece and the second connecting piece are connected through screws.
However, the first connecting piece and the second connecting piece of the bionic wrist cannot rotate relatively, so that a user cannot adjust the bionic hand according to the requirement of comfort level of the user.
Disclosure of Invention
The application provides a bionical wrist, bionical hand and arm, first base member and second base member in this bionical wrist can rotate each other.
In a first aspect, an embodiment of the present application provides a bionic wrist, including a first substrate, a second substrate, and at least one connecting assembly;
the first base body is provided with a rotary part, the second base body is provided with a rotary cavity, the rotary part is inserted into the rotary cavity, one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with a sliding groove, the other one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with at least one connecting hole, and the connecting hole is opposite to the sliding groove;
the connecting assembly comprises a sliding piece and a fixing piece, the sliding piece is located in the connecting hole, the sliding piece can move along the connecting hole to abut against the sliding groove, when the sliding piece moves to abut against the sliding groove, the fixing piece fixes the sliding piece to keep the sliding piece fixed at the current position, and the sliding piece can move along the extending direction of the sliding groove to enable the rotating portion to rotate around the axis of the rotating cavity.
Optionally, in the bionic wrist provided by the embodiment of the application, the outer side wall of the rotation part is abutted to the inner side wall of the rotation cavity.
Optionally, in the bionic wrist provided in the embodiment of the application, the connecting assembly further includes an elastic member, the elastic member is located in the connecting hole, and the elastic member abuts against between the fixing member and the sliding member.
Optionally, in the bionic wrist provided in the embodiment of the present application, the connecting hole faces the radial direction of the rotation cavity.
Optionally, in the bionic wrist provided by the embodiment of the application, the connecting holes correspond to the connecting components one to one.
Optionally, in the bionic wrist provided by the embodiment of the application, the cross section of the sliding groove is arc-shaped.
Optionally, in the bionic wrist provided in the embodiment of the present application, the sliding part is a revolving body that can roll along the extending direction of the sliding groove.
Optionally, in the bionic wrist provided by the embodiment of the application, the sliding part is a sphere.
Optionally, in the bionic wrist provided in the embodiment of the present application, the size of the opening of the sliding groove is greater than or equal to the size of the bottom of the sliding groove.
Optionally, the bionic wrist that this application embodiment provided, the spout is a plurality of, and the outer periphery of a plurality of spouts around gyration portion or the inside wall interval setting in gyration chamber.
Optionally, in the bionic wrist provided by the embodiment of the application, the sliding groove is an annular groove formed around the outer circumferential surface of the rotating part or around the inner side wall of the rotating cavity.
Optionally, in the bionic wrist provided by the embodiment of the application, the fixing piece is detachably connected in the connecting hole.
Optionally, in the bionic wrist provided by the embodiment of the application, the fixing piece is a jackscrew, and an internal thread matched with the jackscrew is arranged in the connecting hole.
In a second aspect, an embodiment of the present application provides a bionic hand, including a finger, a palm and the above bionic wrist, where the finger is connected with the palm, the bionic wrist has a first base and a second base, and the palm is connected with the first base; alternatively, the palm is connected to the second base.
In a third aspect, an embodiment of the present application provides a mechanical arm, including an arm and the above-mentioned bionic hand, where the bionic hand includes a bionic wrist, the bionic wrist has a first base and a second base, and the arm is connected to the first base; alternatively, the arm is connected to the second base.
The application provides a bionical wrist, bionical hand and arm is through inserting the gyration intracavity of second base member with the gyration portion on the first base member to carry out preliminary location to first base member and second base member. One of the outer circumference of the rotary part and the inner side wall of the rotary cavity is provided with a sliding groove, and the other is provided with at least one connecting hole. And inserting the sliding piece into the connecting hole, moving the sliding piece along the connecting hole to abut against the sliding groove, and fixing the sliding piece through the fixing piece so as to keep the sliding piece fixed at the current position, thereby realizing the connection of the first base body and the second base body. The slider moves along the extending direction of the sliding groove, so that the rotating part rotates around the axis of the rotating cavity, the palm connected with the bionic wrist rotates, and a user can adjust the bionic hand according to the requirement of self comfort level, and the use is convenient.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a prior art bionic hand;
FIG. 2 is a schematic structural diagram of a bionic wrist provided in an embodiment of the present application;
FIG. 3 is a first cross-sectional view of a biomimetic wrist provided in an embodiment of the present application;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a second cross-sectional view of a biomimetic wrist provided in an embodiment of the present application;
FIG. 6 is a partial enlarged view of FIG. 5 at B;
FIG. 7 is a first schematic structural diagram of a first substrate in a bionic wrist provided in an embodiment of the present application;
FIG. 8 is a second schematic structural diagram of a first substrate in a bionic wrist provided in an embodiment of the present application;
FIG. 9 is a first schematic structural view illustrating a slider and a turning portion of a biomimetic wrist according to an embodiment of the present disclosure;
FIG. 10 is a second schematic structural view illustrating a slider and a turning portion of a biomimetic wrist according to an embodiment of the present application;
fig. 11 is a third schematic structural view of a sliding element and a rotating portion in a bionic wrist provided in the embodiment of the present application.
Description of reference numerals:
100-bionic hand;
110-bionic five fingers; 111-thumb; 112-forefinger; 113-middle finger; 114-ring finger; 115-little finger;
120-a bionic palm;
200. 130-a bionic wrist; 131-a first connector; 132-a second connector;
140-a screw;
210-a first substrate; 211-turns; 212-a base;
220-a second substrate; 221-a rotation cavity;
230-a connection assembly; 231-a slide; 232-a fixing member; 233-an elastic member;
240-chute;
250-connecting hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.
The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a bionic hand in the prior art. Referring to fig. 1, a bionic hand 100 may include a bionic five-finger 110, a bionic palm 120, and a bionic wrist 130. The bionic five fingers 110 comprise a thumb 111, an index finger 112, a middle finger 113, a ring finger 114 and a little finger 115, the bionic five fingers 110 are sequentially connected with one end of the bionic palm 120, and the other end of the bionic palm 120 is connected with the bionic wrist 130. The bionic wrist 130 includes a first connector 131 for connecting with the bionic palm 120 and a second connector 132 for connecting with the arm. The first connector 131 is inserted into the second connector 132. The first connecting member 131 is provided with a blind hole, the second connecting member 132 is provided with a communicating hole, and the screw 140 passes through the communicating hole and is in threaded connection with the blind hole.
In use, after the second connecting piece 132 in the bionic wrist 130 is connected with the arm of the crowd with disabled or dysfunctional upper limbs, the first connecting piece 131 and the second connecting piece 132 in the bionic wrist 130 connected through the screws cannot rotate relatively, so that the user cannot adjust the bionic hand 100 according to the requirement of self comfort, and the use is inconvenient.
In order to solve the above problem, the embodiments of the present application provide a bionic wrist, in which the turning part 211 on the first substrate 210 is inserted into the turning cavity 221 of the second substrate 220 to perform the preliminary positioning of the first substrate 210 and the second substrate 220. One of the outer circumferential surface of the rotation portion 211 and the inner side wall of the rotation chamber 221 has a slide groove 240, and the other has at least one connection hole 250. The sliding member 231 is inserted into the connection hole 250, and the sliding member 231 is moved along the connection hole 250 to abut against the sliding groove 240, and the sliding member 231 is fixed by the fixing member 232 to keep the sliding member 231 fixed at the current position, thereby achieving the connection of the first base 210 and the second base 220. The sliding member 231 moves along the extending direction of the sliding slot 240, so that the revolving portion 211 rotates around the axis of the revolving cavity 221, so that the palm connected with the bionic wrist 200 rotates, and a user can adjust the bionic hand 100 according to the requirement of comfort, thereby being convenient to use.
The present application is described in detail below with reference to the attached drawings and specific examples.
FIG. 2 is a schematic structural diagram of a bionic wrist provided in an embodiment of the present application; FIG. 3 is a first cross-sectional view of a biomimetic wrist provided in an embodiment of the present application; fig. 4 is a partially enlarged view of a portion a in fig. 3. Referring to fig. 2 and 4, a bionic wrist 200 provided by the embodiment of the present application includes a first substrate 210, a second substrate 220, and at least one connecting assembly 230.
The first base body 210 has a rotation portion 211, the second base body 220 has a rotation cavity 221, the rotation portion 211 is inserted into the rotation cavity 221, one of an outer circumferential surface of the rotation portion 211 and an inner side wall of the rotation cavity 221 has a sliding groove 240, and the other has at least one connection hole 250, and the connection hole 250 is located opposite to the sliding groove 240.
The connecting assembly 230 includes a sliding member 231 and a fixing member 232, the sliding member 231 is located in the connecting hole 250, and the sliding member 231 can move along the connecting hole 250 to abut against the sliding slot 240, when the sliding member 231 moves to abut against the sliding slot 240, the fixing member 232 fixes the sliding member 231 to keep the sliding member 231 fixed at the current position, and the sliding member 231 moves along the extending direction of the sliding slot 240 to rotate the rotating portion 211 around the axis of the rotating cavity 221.
In the present application, the bionic wrist 200 is connected to the palm and the arm of the bionic hand through the first substrate 210 and the second substrate 220, respectively. In use, the first base 210 may be used to attach to the palm of a simulated hand and the second base 220 to attach to an arm; or first base 210 may be used to attach to an arm and second base 220 may be used to attach to the palm of a simulated hand. That is, the positions of the first substrate 210 and the second substrate 220 may be interchanged. For convenience of description, the first base 210 is connected to the palm of a bionic hand, and the second base 220 is connected to an arm.
Specifically, the first base 210 may include a base 212 and a turn portion 211 connected to the base 212. The base 212 is used for being connected with the palm of the bionic hand, and in order to facilitate the connection of the base 212 with the palm of the bionic hand, a first connecting portion connected with the palm of the bionic hand can be arranged on the base 212, and correspondingly, a second connecting portion matched with the first connecting portion is arranged on the palm of the bionic hand. The first connecting portion and the second connecting portion can be fixedly connected and can also be detachably connected, and the application is not limited herein.
In order to facilitate the connection between the first substrate 210 and the second substrate 220, the turning part 211 of the first substrate 210 is disposed toward the second substrate 220, and a turning cavity 221 is disposed on the second substrate 220, and the first substrate 210 and the second substrate 220 are connected by inserting the turning part 211 into the turning cavity 221. The revolving portion 211 may be a cylinder, a circular table, a ring, or other regular revolving body, as long as the axis of the revolving portion 211 and the axis of the revolving chamber 221 are located on the same straight line. Correspondingly, the rotating cavity 221 for inserting the rotating part 211 is a cylinder, a circular table, a circular ring or other regular rotating cavity matched with the rotating part 21.
When the turning part 211 is inserted into the turning cavity 221, the first base 210 and the second base 220 are fixed by the connection assembly 230, and the relative rotation of the first base 210 and the second base 220 is achieved. The following description is made in terms of various embodiments by different positions of the slide groove 240 and the connection hole 250.
Referring to fig. 3 and 4, in one possible implementation, the rotation portion 211 is annular or cylindrical, a through hole or a blind hole is formed in the second base 220, a rotation cavity 221 is formed by a space surrounded by inner side walls of the through hole or the blind hole, a sliding groove 240 is formed in an outer circumferential surface of the rotation portion 211, an extending direction of the sliding groove 240 is the same as a rotation direction of the rotation portion 211, a connection hole 250 is formed in an inner side wall of the rotation cavity 221, an axis of the connection hole 250 is perpendicular to an axis of the rotation cavity 221, and the connection hole 250 is a through hole, that is, one end of the connection hole 250 is located on an outer side wall of the second base 220, the other end of the connection hole 250 is located on an inner side wall of the rotation cavity 221, the connection hole 250 is opposite to the sliding groove 240, the sliding member 231 is inserted into the connection hole 250 through one end of the connection hole 250 until the sliding, so that the slide member 231 maintains the current position (i.e., the position of abutting against the slide groove 240), thereby connecting the first base 210 and the second base 220. When the positions of the first base 210 and the second base 220 need to be adjusted to enable the first base 210 to rotate relative to the second base 220, the first base 210 is directly rotated, and the sliding piece 231 slides along the extending direction of the sliding groove 240, so that the rotating portion 211 rotates relative to the rotating cavity 221. Wherein, the cross section of the sliding chute 240 is circular arc. That is, the cross section of the slide groove 240 perpendicular to the rotation direction of the rotation portion 211 is circular arc.
Referring to fig. 5 and 6, in another possible implementation, the rotation part 211 may be a ring shape, a through hole is formed in the second base 220, a space surrounded by inner sidewalls of the through hole forms a rotation cavity 221, a connection hole 250 is formed in an outer circumferential surface of the rotation part 211, the connection hole 250 penetrates through inner and outer circumferences of the rotation part 211, and an axis of the connection hole 250 is perpendicular to an axis of the rotation part 211. A slide groove 240 is provided in the inner wall of the rotation chamber 221, and the slide groove 240 extends in the same direction as the rotation direction of the rotation portion 211. The connecting hole 250 is opposed to the sliding groove 240, and the sliding member 231 is inserted into the connecting hole 250 through one end of the connecting hole 250 until the sliding member 231 passes through the connecting hole 250 and abuts against the sliding groove 240, at this time, the sliding member 231 is fixed by the fixing member 232 so that the sliding member 231 maintains the current position (i.e., the position abutting against the sliding groove 240) to connect the first base 210 and the second base 220. When the positions of the first base 210 and the second base 220 need to be adjusted to enable the first base 210 to rotate relative to the second base 220, the first base 210 is directly rotated, and the sliding piece 231 slides along the extending direction of the sliding groove 240, so that the rotating portion 211 rotates relative to the rotating cavity 221.
To prevent the turnarounds 211 from wobbling when rotating relative to the turnarounds 221, in some embodiments, the outer sidewalls of the turnarounds 211 abut the inner sidewalls of the turnarounds 221.
In order to stably connect the first base 210 and the second base 220, two or more connecting assemblies 230 and two or more connecting holes 250 may be provided, and the connecting holes 250 correspond to the connecting assemblies 230 one by one, that is, one sliding member 231 is provided in one connecting hole 250, and each sliding member 231 is fixed by one fixing member 232.
According to the bionic wrist 200 provided by the embodiment of the application, the rotary part 211 on the first substrate 210 is inserted into the rotary cavity 221 of the second substrate 220, so as to preliminarily position the first substrate 210 and the second substrate 220. One of the outer circumferential surface of the rotation portion 211 and the inner side wall of the rotation chamber 221 has a slide groove 240, and the other has at least one connection hole 250. The sliding member 231 is inserted into the connection hole 250, and the sliding member 231 is moved along the connection hole 250 to abut against the sliding groove 240, and the sliding member 231 is fixed by the fixing member 232 to keep the sliding member 231 fixed at the current position, thereby achieving the connection of the first base 210 and the second base 220. The sliding member 231 moves along the extending direction of the sliding slot 240, so that the revolving portion 211 rotates around the axis of the revolving cavity 221, so that the palm connected with the bionic wrist 200 rotates, and a user can adjust the bionic hand 100 according to the requirement of comfort, thereby being convenient to use.
Referring to fig. 3 to 6, the fixing member 232 is detachably coupled in the coupling hole 250. When it is necessary to detach the first base 210 and the second base 220, the fixing member 232 is detached from the connecting hole 250, so that the sliding member 231 can move along the connecting hole 250 toward the side away from the sliding slot 240 to disengage the sliding member 231 from the sliding slot 240. Thus, the turning part 211 can be pulled out from the turning cavity 221 to detach the first base 210 and the second base 220.
To facilitate removal of the fixing member 232 from the connecting hole 250, the fixing member 232 is optionally a jackscrew, and the connecting hole 250 has an internal thread matching the jackscrew. Illustratively, the jack screw may be rotated clockwise to abut the slider 231 between the sliding slot 240 and the jack screw, and the current position of the slider 231 is maintained to fix the first substrate 210 and the second substrate 220. When the first base 210 and the second base 220 need to be detached, the jackscrew is rotated counterclockwise to separate the sliding member 231 from the state of abutting against the sliding groove 240 and withdraw from the sliding groove 240, and at this time, the rotating portion 211 is pulled out from the rotating cavity 221 to detach the first base 210 and the second base 220. When the jackscrew is rotated, the sliding part 231 only needs to exit the sliding groove 240, and the jackscrew does not need to be rotated out of the connecting hole 250, so that the operation time is saved for disassembling the first base body 210 and the second base body 220, and the operation is convenient.
In the present application, in order to facilitate the sliding member 231 to exit the sliding slot 240, the sliding member 231 may be connected to the fixing member 232, and the sliding member 231 may move along with the fixing member 232 when the fixing member 232 is removed from the connecting hole 250.
In some embodiments, the connection assembly 230 further includes an elastic member 233, the elastic member 233 is located in the connection hole 250, and the elastic member 250 abuts between the fixing member 232 and the sliding member 231. The elastic member 233 may be a spring, a sleeve with elasticity, or a cylinder with elasticity. The elastic member 233 is deformed by the pressure of the fixing member 232, and the sliding member 231 is pressed by the elastic member 233, so that the sliding member 231 is held in contact with the chute 240. The damping function is performed during the rotation of the first base 210 relative to the second base 220, that is, the elastic member 233 is contracted at this time, so that the first base 210 can smoothly rotate. The pressure of the elastic member 233 can fix the first base 210 and the second base 220, that is, after the first base 210 rotates relative to the second base 220 by an angle, the elastic member 233 presses the sliding member 231, so that the first base 210 maintains the current position of the second base 220. At the same time, the elastic member 233 also applies pressure to the fixing member 232, whereby the fixing member 232 can be prevented from loosening.
Fig. 7 is a first schematic structural diagram of a first substrate in a bionic wrist provided in an embodiment of the present application. Referring to fig. 7, in the present application, the number of the sliding grooves 240 is two or more, the sliding grooves 240 are spaced around the outer circumferential surface of the rotation portion 211 or the inner sidewall of the rotation cavity 221, and the number of the connecting holes 250 of the sliding grooves 240 is the same. That is, the sliding grooves 240 are disposed at intervals on the outer circumferential surface of the rotating portion 211 or the inner side wall of the rotating chamber 221, and the sliding grooves 240 extend in the rotating direction of the rotating portion 211. And the chutes 240 are equally spaced apart. Thus, the angle corresponding to the extending length of the slide groove 240 is the rotation angle of the turning part 211.
Fig. 8 is a second structural schematic diagram of the first substrate in the bionic wrist provided in the embodiment of the present application. Referring to fig. 8, in the present application, the sliding groove 240 is an annular groove formed around the outer circumferential surface of the rotation portion 211 or the inner sidewall of the rotation chamber 221. That is, one sliding groove 240 is provided, and in this case, two or more connecting holes 250 may be provided. In this way, the turnarounds 211 may be rotated at 360 °.
The slider 231 is a rotating body that can roll in the extending direction of the chute 240. Possible configurations of slider 231 are as follows.
Fig. 9 is a first schematic structural view of a sliding element and a rotating portion in a bionic wrist provided in the embodiment of the present application. Referring to fig. 9, the sliding member 231 has a cylindrical shape, and the cross section of the sliding chute 240 has a rectangular shape, and at this time, the size C of the opening of the sliding chute 240 is equal to the size D of the bottom wall of the sliding chute 240. When the slide member 231 abuts against the slide groove 240, the outer side wall of the slide member 231 abuts against the inner side wall of the slide groove 240, and the end of the slide member 231 abuts against the bottom of the slide member 231.
Fig. 10 is a first schematic structural view of a sliding element and a rotating portion in a bionic wrist provided in an embodiment of the present application. Referring to fig. 10, the sliding member 231 is in the shape of a circular truncated cone, the cross section of the sliding slot 240 is in the shape of an isosceles trapezoid, and the size C of the opening of the sliding slot 240 is greater than the size D of the bottom wall of the sliding slot 240, so that the sliding member 231 can be separated from the sliding slot 240. When the slide member 231 abuts against the slide groove 240, the outer side wall of the slide member 231 abuts against the inner side wall of the slide groove 240, and the end of the slide member 231 abuts against the bottom of the slide member 231.
Fig. 11 is a third schematic structural view of a sliding element and a rotating portion in a bionic wrist provided in the embodiment of the present application. Referring to fig. 11, the sliding member 231 is in a spherical shape, the cross section of the sliding chute 240 is rectangular, and the size C of the opening of the sliding chute 240 is equal to the size D of the bottom wall of the sliding chute 240. The radius of the slide 231 is equal to the depth of the slide groove 240. When the sliding part 231 abuts against the sliding groove 240, the outer side wall of the sliding part 231 abuts against the opening of the sliding groove 240, the sliding part 231 abuts against the boundary between the rotating cavity 221 and the rotating part 211, the outer side wall of the sliding part 231 abuts against the bottom of the sliding part 231, when the rotating part 211 rotates around the rotating cavity 221, the sliding part 231 can rotate in the cavity enclosed by the connecting hole 250 and the sliding groove 240, and the sliding part 231 applies pressure to the elastic part 233 in the rotating process, so that the rotating cavity 221 can be smoothly transmitted.
The sliding member 231 is worn during use, and therefore, the sliding member 231 is made of a wear-resistant material. For example, the sliding member 231 may be a steel ball, and thus, wear of the sliding member 231 can be reduced.
The embodiment of the application also provides a bionic hand, which comprises fingers, a palm and the bionic wrist 200 provided by the embodiment, wherein the fingers are connected with the palm, the bionic wrist 200 is provided with a first base 210 and a second base 220, and the palm is connected with the first base 210 or the palm is connected with the second base 220.
The structure and principle of the bionic wrist 200 are described in detail in the above embodiments, which are not repeated herein.
According to the bionic hand provided by the embodiment of the application, the palm of the bionic hand is connected with the first base 210 or the second base 220, and the rotary part 211 on the first base 210 is inserted into the rotary cavity 221 of the second base 220, so as to preliminarily position the first base 210 and the second base 220. One of the outer circumferential surface of the rotation portion 211 and the inner side wall of the rotation chamber 221 has a slide groove 240, and the other has at least one connection hole 250. The sliding member 231 is inserted into the connection hole 250, and the sliding member 231 is moved along the connection hole 250 to abut against the sliding groove 240, and the sliding member 231 is fixed by the fixing member 232 to keep the sliding member 231 fixed at the current position, thereby achieving the connection of the first base 210 and the second base 220. The sliding member 231 moves along the extending direction of the sliding slot 240, so that the revolving portion 211 rotates around the axis of the revolving cavity 221, so that the palm connected with the bionic wrist 200 rotates, and a user can adjust the bionic hand 100 according to the requirement of comfort, thereby being convenient to use.
The embodiment of the application also provides a mechanical arm, which comprises an arm and the bionic hand provided by the embodiment, wherein the bionic hand comprises a bionic wrist 200, the bionic wrist is provided with a first base 210 and a second base 220, and the arm is connected with the first base 210; alternatively, the arm is connected to the second base 220.
The structure and principle of the bionic wrist 200 and the bionic hand are described in detail in the above embodiments, which are not repeated herein.
The arm that this application embodiment provided is connected through bionical hand and arm, and bionical wrist 200 of bionical hand can rotate with the palm relatively, and the user can be according to self comfort level demand, adjusts bionical hand 100, convenient to use.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (15)
1. A bionic wrist is characterized by comprising a first base body, a second base body and at least one connecting assembly;
the first base body is provided with a rotary part, the second base body is provided with a rotary cavity, the rotary part is inserted into the rotary cavity, one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with a sliding groove, the other one of the outer circumferential surface of the rotary part and the inner side wall of the rotary cavity is provided with at least one connecting hole, and the connecting hole is opposite to the sliding groove;
the connecting assembly comprises a sliding piece and a fixing piece, the sliding piece is located in the connecting hole, the sliding piece can move along the connecting hole to abut against the sliding groove, when the sliding piece moves to abut against the sliding groove, the fixing piece fixes the sliding piece, so that the sliding piece is kept at the position abutted against the sliding groove, the sliding piece is prevented from moving towards the direction far away from the sliding groove, and the sliding piece can move along the extending direction of the sliding groove, so that the rotary part rotates around the axis of the rotary cavity.
2. The biomimetic wrist of claim 1, wherein an outer sidewall of the turn portion abuts an inner sidewall of the turn cavity.
3. The biomimetic wrist according to claim 1, wherein the connection assembly further comprises an elastic member, the elastic member is located in the connection hole, and the elastic member abuts between the fixing member and the sliding member.
4. A biomimetic wrist according to claim 3, wherein the connection holes are directed radially of the turn-around cavity.
5. The biomimetic wrist according to claim 1, wherein the connection holes correspond one-to-one to the connection members.
6. The biomimetic wrist according to claim 1, wherein a cross section of the sliding slot is a circular arc.
7. A biomimetic wrist according to any one of claims 1 to 6, wherein the sliding member is a solid of revolution rollable in the direction of extension of the chute.
8. A biomimetic wrist according to claim 7, wherein the slider is a sphere.
9. A biomimetic wrist according to any of claims 1 to 6, wherein a size of an opening of the chute is greater than or equal to a size of a bottom of the chute.
10. The biomimetic wrist according to any one of claims 1 to 6, wherein the sliding grooves are provided in plurality, and the plurality of sliding grooves are spaced around the outer circumferential surface of the rotation portion or the inner side wall of the rotation cavity.
11. A biomimetic wrist according to any one of claims 1 to 6, wherein the sliding slot is an annular slot disposed around an outer circumferential surface of the swivel portion or an inner side wall of the swivel cavity.
12. A biomimetic wrist according to any one of claims 1 to 6, wherein the fixing member is removably attached within the attachment aperture.
13. The biomimetic wrist according to claim 12, wherein the fixing member is a jackscrew, and the connecting hole has an internal thread matching the jackscrew.
14. A biomimetic hand comprising fingers, a palm and a biomimetic wrist of any of claims 1-13, the fingers being connected to the palm, the biomimetic wrist having a first base and a second base, the palm being connected to the first base; alternatively, the palm is connected to the second base.
15. A robotic arm comprising an arm and the biomimetic hand of claim 14, the biomimetic hand comprising a biomimetic wrist having a first base and a second base, the arm being connected to the first base; alternatively, the arm is connected to the second base.
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| CN202010147523.4A CN111300477B (en) | 2020-03-05 | 2020-03-05 | Bionic wrist, bionic hand and mechanical arm |
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| JPS6091043A (en) * | 1983-10-26 | 1985-05-22 | Toshiba Corp | Inner gearing planetary reduction gear |
| JPH01103239A (en) * | 1987-10-15 | 1989-04-20 | Sharp Corp | Holding device for electronic part |
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| CN111300477A (en) | 2020-06-19 |
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