CN113081413B - Intelligent bionic artificial hand - Google Patents

Abstract

The invention discloses an intelligent bionic prosthetic hand, which comprises a palm component and finger components, wherein the finger components at least comprise a thumb component and a forefinger component, the palm component comprises a shell and a driving device, a cavity is formed in the shell, the driving device is arranged in the cavity, a circuit board electrically connected with the driving device is also arranged in the palm component, the driving device is a linear motor, and the driving device is in independent driving connection with each finger in the finger components connected with the upper end of the shell; the thumb component comprises an upper thumb joint and a lower thumb joint, the upper thumb joint and the lower thumb joint are in rotary connection through a rotating shaft, the lower end of the upper thumb joint is arc-shaped, a plurality of sawtooth structures are arranged at the arc-shaped end face of the upper thumb joint, an elastic jacking mechanism is arranged at the end face of the lower thumb joint corresponding to the arc-shaped end face of the upper thumb joint, the jacking mechanism is matched with the sawtooth structures, and the bending angle of the upper thumb joint is manually controlled. The invention realizes the accurate grabbing and pinching of the artificial hand and has wider size range suitable for grabbed objects.

Description

Intelligent bionic artificial hand

Technical Field

The invention relates to the technical field of bionic hands, in particular to an intelligent bionic artificial hand.

Background

The intelligent artificial hand is controlled mostly in a myoelectric control mode, and micro myoelectric potential difference signals are used as initial signals for controlling and operating various functions of the myoelectric artificial hand to realize the actions of controlling the opening, closing and the like of the artificial hand.

The existing intelligent artificial hand driving mode mainly adopts a gear set transmission structure with complex gears to realize various actions of the hand, has higher control accuracy, but has the problems of high failure rate, heavy weight and high cost, and is not beneficial to popularization and application of the artificial hand.

Chinese patent document CN110731839A discloses a prosthetic hand, which uses the same motor to drive the ring finger, the little finger and the middle finger, and although the number of driving motors is reduced, it is beneficial to reduce the size and weight of the palm, the circuit board is arranged in the rotary wrist, which increases the size of the rotary wrist, and further increases the height of the whole hand. Simultaneously three fingers share same driving motor, and each finger degree of freedom is few, is not convenient for snatch comparatively meticulous article accurately, and the object scope that is fit for snatching is narrower relatively.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the intelligent bionic artificial hand, each finger is independently controlled, the fingers are matched with each other to have higher grabbing and pinching freedom degrees, the intelligent bionic artificial hand can be suitable for grabbing and pinching objects with different sizes, and the grabbing and pinching precision is higher.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent bionic prosthetic hand comprises a palm component and finger components, wherein the finger components at least comprise a thumb component and an index finger component, the palm component comprises a shell and a driving device, a cavity is formed in the shell, the driving device is arranged in the cavity, a circuit board electrically connected with the driving device is further arranged in the palm component, the driving device is a linear motor, and the driving device is in independent driving connection with each finger in the finger components connected to the upper end of the shell;

the thumb subassembly includes joint and thumb lower joint on the thumb, the thumb go up the joint with the thumb lower joint forms swivelling joint through the pivot, the lower extreme of joint is circular-arcly on the thumb, and its circular-arc terminal surface department is equipped with a plurality of sawtooth structures, with the circular-arc terminal surface of joint is corresponding on the thumb the joint terminal surface department is equipped with elasticity jack-up mechanism under the thumb, jack-up mechanism with the sawtooth structure cooperatees, manual control the bending angle of joint on the thumb.

Further, the finger subassembly is the underactuated structure, including thumb subassembly, forefinger subassembly, well finger subassembly, little finger subassembly and ring finger subassembly, drive arrangement include first linear electric motor, second linear electric motor, third linear electric motor, fourth linear electric motor and fifth linear electric motor, first linear electric motor, second linear electric motor, third linear electric motor, fourth linear electric motor and fifth linear electric motor respectively with thumb subassembly, forefinger subassembly, middle finger subassembly, ring finger subassembly and little finger subassembly form the one-to-one drive and connect, each linear electric motor corresponds the drive forefinger subassembly, middle finger subassembly, ring finger subassembly and little finger subassembly are crooked and are extended the action.

Preferably, the finger tips of the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component are respectively sleeved with a rubber finger sleeve.

Furthermore, the surface of the rubber finger sleeve of the thumb component and the surface of the rubber finger sleeve of the forefinger component are respectively provided with wear-resistant textures.

The lower end of the upper joint of the thumb is provided with three or more sawtooth structures, and the end part of the lower joint of the thumb is formed with a groove; the jacking mechanism comprises a fixed block with a protrusion and a spring, the fixed block is arranged in the groove and can slide back and forth along the inner wall of the groove, and the spring is arranged between the bottom of the groove and the fixed block; promote the joint on the thumb along when the pivot is rotatory, the spring receives the extrusion, protruding on the fixed block is followed adjacent two roll-off between the sawtooth structure, the spring resets gradually, protruding on the fixed block slides in another adjacent two between the sawtooth structure.

The back of the shell of the palm component is provided with a control panel, and the control panel is electrically connected with the circuit board and used for controlling the grabbing mode of the finger component.

The lower end of the shell is also fixedly provided with a rotary wrist, the rotary wrist comprises a cylindrical support and a rotary body, two ends of the cylindrical support are provided with openings, and the rotary body is arranged at the opening position of one end of the cylindrical support and is in relative rotary connection with the inner side surface of the cylindrical support; the middle part of the rotating body is provided with an electric slip ring, and the electric slip ring is electrically connected with the circuit board through a connecting wire.

The technical scheme of the invention has the following advantages:

A. the invention sets a driving device which is in one-to-one correspondence with each finger component on the palm component to form independent driving connection, the driving device adopts a linear motor, each finger component can generate quick independent response, and the invention has the functions of real grabbing and pinching of human fingers, and the like.

B. The thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component respectively correspond to a linear motor, wherein the index finger component, the middle finger component, the ring finger component and the little finger component all adopt under-actuated structures, the linear motors drive four fingers to complete stretching and bending grabbing and pinching actions, when the first linear motor drives the thumb component to do linear telescopic actions, one or more of the four fingers can be matched with the thumb component in a passive bending mode, through operation on a control panel, the driving modes of different fingers are controlled, 2-finger pinching, 3-finger pinching and 5-finger grabbing can be realized, different gestures can be performed, the operation is more flexible, and object grabbing and pinching actions with multiple degrees of freedom are realized.

C. The rubber finger sleeves are respectively sleeved on the fingertip parts of the finger assemblies, so that the anti-skidding effect is good, the grabbing is easier, particularly, texture structures are formed on the surfaces of the rubber sleeve of the fingertip of the thumb and the fingertip of the forefinger, the friction force between the rubber sleeve and a contact object is increased, and the object can be grabbed accurately more easily.

Drawings

In order to more clearly illustrate the embodiments of the present invention, the drawings which are needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained from the drawings without inventive labor to those skilled in the art.

FIG. 1 is a schematic view of the overall structure of the prosthetic hand provided by the present invention;

FIG. 2 is a schematic illustration of the palm component of FIG. 1 in section;

FIG. 3 is a back schematic view of the palm assembly shown in FIG. 1;

FIG. 4 is a schematic view of the connection of the index finger assembly and the drive mechanism shown in FIG. 1;

FIG. 5 is a schematic view of the thumb assembly of FIG. 1 with the lower thumb joint broken away;

fig. 6 is a cross-sectional view of the swivel wrist shown in fig. 1.

Description of reference numerals:

1-palm assembly

11-shell

12-drive device

121-first linear motor, 122-second linear motor, 123-third linear motor

124-fourth linear motor, 125-fifth linear motor

13-Circuit Board, 14-control Panel, 141-mode switching button

2-finger assembly

21-thumb Assembly

211-upper thumb joint, 2111-serration

212-lower thumb Joint

2121-jacking mechanism, 21211-fixed block, 21212-spring

2122 groove

213-the rotating shaft is arranged on the rotating shaft,

22-forefinger Assembly

221-connecting rod, 222-pull rod I, 223-pull rod II, 2224-shaft, 225-forefinger pull rod

226-upper knuckle of index finger, 227-torsion spring, 228-pin, 229-lower knuckle of index finger

23-middle finger assembly, 24-ring finger assembly, 25-little finger assembly

a-a rubber finger stall; b-wear-resistant texture, c-slotted holes

4-rotating wrist

40-pressing sheet, 41-cylindrical support, 42-rotator

43-electric slip ring

431-upper slip ring, 432-lower slip ring

44-bottom cover, 45-screw I, 46-O type rubber pad, 47-gasket and 48-screw II.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.

As shown in fig. 1 and 2, the present invention provides a prosthetic hand, comprising a palm component 1 and finger components 2, wherein the finger components 2 at least comprise a thumb component 21 and a forefinger component 22, the palm component 1 comprises a housing 11 and a driving device 12, a cavity is formed in the housing 11, the driving device 12 is arranged in the cavity and forms independent driving connection with each finger component 2 at the upper end of the housing 11, namely, different finger components can be controlled to perform bending action respectively; as shown in fig. 5, the thumb assembly 21 includes an upper thumb joint 211 and a lower thumb joint 212, the upper thumb joint 211 and the lower thumb joint 212 are rotatably connected through a rotating shaft 213, the lower end of the upper thumb joint 211 is arc-shaped, a plurality of saw tooth structures 2111 are disposed on the arc-shaped end surface of the upper thumb joint 211, an elastic jacking mechanism 2121 is disposed on the end surface of the lower thumb joint 212 corresponding to the arc-shaped end surface of the upper thumb joint 211, the jacking mechanism 2121 is matched with the saw tooth structures 2111 to manually control the bending angle of the upper thumb joint 211, and the upper thumb joint is set at the corresponding bending angle according to the size of an object to be grasped.

The lower end of the upper thumb joint 211 of the invention is provided with three or more sawtooth structures 2111, and the end part of the lower thumb joint 212 is provided with a groove 2122; the jacking mechanism 2121 includes a fixing block 21211 having a protrusion and a spring 21212, the fixing block 21211 is disposed in the groove 2122 and can slide back and forth along the inner wall of the groove 2122, and the spring 21212 is disposed between the bottom of the groove 2122 and the fixing block 21211; when the thumb is required to be grabbed or pinched, the thumb upper joint 211 is only required to be pushed towards the palm direction, the thumb upper joint 211 can rotate along the rotating shaft 213, the thumb upper joint 211 is pushed to rotate along the rotating shaft 213, the spring 21212 is squeezed, the protrusion on the fixing block 21211 moves from the tooth root position to the tooth top and then crosses the tooth top, the spring 21212 resets, the protrusion on the fixing block 21211 enters the other side of the sawtooth structure 2111, and the thumb upper joint 211 and the thumb lower joint 212 are clamped and fixed under the action of the spring 21212. Of course, it is also possible to continue rotating the upper thumb joint relative to the lower thumb joint under the action of the outward pushing force, so that the thumb assembly 21 forms a different bending angle. The artificial hand thumb assembly 21 of the present invention has a passive degree of freedom in addition to an active degree of freedom driven by a linear motor, and the position of the upper joint 211 of the thumb is fixed by opening 3 notches on the upper joint 211 of the thumb in cooperation with the fixing block 21211. The joint 211 is adjustable in 3 or more positions on the thumb to allow the thumb to open and close, and to grasp objects of different sizes. Of course, the present invention is not limited to the elastic jack mechanism shown in fig. 5, and it is within the scope of the present invention to employ an elastic jack structure extending through the elastic jack mechanism.

As shown in fig. 2, in the present invention, it is preferable that all four fingers are under-actuated, the finger assemblies include a thumb assembly 21, an index finger assembly 22, a middle finger assembly 23, a ring finger assembly 24 and a little finger assembly 25, the driving device 12 includes a first linear motor 121, a second linear motor 122, a third linear motor 123, a fourth linear motor 124 and a fifth linear motor 125, the first linear motor 121, the second linear motor 122, the third linear motor 123, the fourth linear motor 124 and the fifth linear motor 125 are respectively in one-to-one driving connection with the thumb assembly 21, the index finger assembly 22, the middle finger assembly 23, the ring finger assembly 24 and the little finger assembly 25, and each linear motor correspondingly drives the index finger assembly 22, the middle finger assembly 23, the ring finger assembly 24 and the little finger assembly 25 to perform bending and stretching actions. Of course, it is also possible to provide only one or two or more finger assemblies among the middle finger assembly 23, the ring finger assembly 24, and the little finger assembly 25 in combination with the thumb assembly and the index finger assembly. According to the invention, each finger assembly is correspondingly provided with one linear motor, so that the control is more accurate, the grabbing combined mode realized by the artificial hand is richer and more comprehensive, and the external size range of the object suitable for grabbing becomes wider.

The structure of the index finger assembly 22 is described with reference to the figure 4. A connecting rod 221 is arranged at the driving end of the second linear motor 122, the connecting rod 221 is hinged with one end of a pull rod I222, the other end of the pull rod I222 is hinged with one end of a pull rod II223, the other end of the pull rod II223 is connected with a shaft 224, and the shaft 224 is arranged in a groove-shaped hole c formed at the lower part of a lower forefinger joint 229; the lower part of the lower forefinger joint 229 is rotationally connected with the upper end of the shell 11 through a pin shaft, and the lower end of the upper forefinger joint 226 is rotationally connected with the same pin shaft through a forefinger pull rod 225; meanwhile, the lower end of the upper forefinger joint 226 is rotatably connected with the upper end of the lower forefinger joint 229 through a pin 228, and a torsion spring 227 is further mounted on the pin 228. Under the driving action of the second linear motor 122, different extension or bending angles between the upper joint and the lower joint of the index finger assembly 22 can be achieved. In addition, the structures of the little finger assembly, the ring finger assembly and the middle finger assembly are the same as the structure of the index finger assembly, and are not described in detail here.

The index finger assembly 22, the middle finger assembly 23, the ring finger assembly 24 and the little finger assembly 25 are all of under-actuated structures and respectively provided with two finger joints, when the linear motor controls the connecting rod 221 to move downwards, the upper joints and the lower joints of the fingers simultaneously perform bending actions, and when the linear motor controls the connecting rod to extend upwards, the upper joints and the lower joints of the fingers simultaneously perform unfolding actions by means of the elasticity of the torsion spring.

In each finger assembly, the groove-shaped hole c is formed in the lower joint, and when the finger is pressed from the back of the hand, the upper joint and the lower joint of the finger can be passively bent, so that the finger has certain flexibility, and the finger cannot hurt other people and cannot damage a grabbed object when touching other people.

In order to enhance the flexibility of the bionic prosthetic hand, the finger tips of the thumb component 21, the index finger component 22, the middle finger component 23, the ring finger component 24 and the little finger component 25 are respectively sleeved with a rubber finger sleeve a, so that the friction force between the bionic prosthetic hand and a contacted object is increased, and particularly, the surfaces of the rubber finger sleeves a of the thumb component and the index finger component are provided with wear-resistant texture structures, so that the object to be grabbed is easier to grab and protect.

As shown in fig. 2, the circuit board 13 is placed in the housing of the palm assembly and not in the rotary wrist, so that the size of the artificial hand is reduced (due to the reduction of the overall height of the artificial hand), the gripping is more convenient and flexible, and the manufacturing cost is lower.

As shown in fig. 3, the control panel connected to the circuit board is disposed on the back of the palm of the prosthetic hand, and the control panel is provided with a mode switching button, so that the grasping mode of the intelligent prosthetic hand can be controlled by the mode switching button, and the 2-finger pinching, the 3-finger pinching or the 5-finger grasping can be realized, and different gestures and the like can be performed.

As shown in fig. 6, the wrist rotator 4 is fixed at the lower end of the housing 11, the wrist rotator 4 includes a cylindrical support 41 and a rotator 42, two ends of the cylindrical support 41 are open, the rotator 42 is disposed at the upper end opening of the cylindrical support 41 and is relatively rotatably connected to the inner side surface of the cylindrical support 41, an electrical slip ring 43 is disposed on the rotator 42, the electrical slip ring 43 includes an upper slip ring 431 and a lower slip ring 432 that are electrically connected, the upper slip ring 431 and the lower slip ring 432 are relatively rotatably connected, and the lower slip ring 432 is electrically connected to the circuit board 13 through a connecting wire. The upper end of the rotating body 42 is further provided with a connecting plate, and the lower end of the shell 11 is fixedly connected with the connecting plate through a connecting piece.

When the rotating body 42 rotates, the upper sliding ring 431 and the rotating body 42 keep synchronous rotation, the lower sliding ring 432 and the circuit board 13 keep stationary, the connecting wires comprise a sliding ring connecting wire and a circuit board connecting wire (not shown in the figure), the sliding ring connecting wire and the circuit board connecting wire are kept stationary after being connected, the rotating wrist 4 can rotate downwards along a rotating direction all the time, the rotating angle exceeds 360 degrees, the rotating body 42 can also be rotated randomly, the winding of the lines cannot be caused, the use is simpler and more convenient, and the assembly is more convenient.

In fig. 6, an annular protrusion is formed on the inner side of the upper portion of the cylindrical support 41, and an O-ring rubber pad 46 is disposed between the rotary body 42 and the upper and lower end surfaces, respectively, wherein the O-ring rubber pad 46 can prevent noise generated when the two rotate relatively. The lower end of the rotary body 42 is provided on the upper and lower end faces of the annular projection by the pressing piece 40 and the screw II48, and a bottom cover 44 is provided at the lower end opening of the cylindrical holder 41, and the bottom cover 44 is fixed to the lower end of the cylindrical holder 41 by the screw I45.

Meanwhile, 4 uniformly distributed threaded holes are formed in the cylindrical support 41 of the rotary wrist 4, so that the rotary wrist can be connected with a stub receiving cavity of a disabled person and can also be connected with mechanical arms of an industrial robot and a service robot.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims (7)

1. An intelligent bionic prosthetic hand comprises a palm component (1) and finger components (2), wherein the finger components (2) comprise a thumb component (21), a forefinger component (22), a middle finger component (23), a ring finger component (24) and a little finger component (25), the palm component (1) comprises a shell (11) and a driving device (12), a cavity is formed in the shell (11), and the driving device (12) is arranged in the cavity, and the intelligent bionic prosthetic hand is characterized in that a circuit board (13) electrically connected with the driving device (12) is further arranged in the palm component (1), the driving device (12) is a linear motor and forms independent driving connection with each finger in the finger components (2) connected with the upper end of the shell (11);

thumb subassembly (21) include joint (211) and joint (212) under the thumb on the thumb, joint (211) on the thumb with joint (212) forms swivelling joint through pivot (213) down, the lower extreme of joint (211) is circular-arc on the thumb, and its circular-arc terminal surface department is equipped with a plurality of sawtooth structures (2111), with the circular-arc terminal surface of joint (211) on the thumb is corresponding joint (212) terminal surface department is equipped with elasticity jack-up mechanism (2121) under the thumb, jack-up mechanism (2121) with sawtooth structure (2111) cooperate, manual control the bend angle of joint (211) on the thumb.

2. The intelligent biomimetic prosthetic hand according to claim 1, wherein the finger assembly (2) is an under-actuated structure, the driving device (12) comprises a first linear motor (121), a second linear motor (122), a third linear motor (123), a fourth linear motor (124) and a fifth linear motor (125), the first linear motor (121), the second linear motor (122), the third linear motor (123), the fourth linear motor (124) and the fifth linear motor (125) are respectively in one-to-one corresponding driving connection with the thumb component (21), the index finger component (22), the middle finger component (23), the ring finger component (24) and the little finger component (25), and the linear motors correspondingly drive the thumb component (21), the index finger component (22), the middle finger component (23), the ring finger component (24) and the little finger component (25) to bend and extend.

3. The intelligent bionic prosthetic hand according to claim 2, wherein the finger tips of the thumb component (21), the index finger component (22), the middle finger component (23), the ring finger component (24) and the little finger component (25) are respectively sleeved with a rubber finger sleeve (a).

4. The intelligent biomimetic prosthetic hand according to claim 3, wherein the surface of the rubber finger stall (a) of the thumb component (21) and the surface of the rubber finger stall (a) of the index finger component (22) are respectively provided with wear-resistant textures (b).

5. The intelligent bionic prosthetic hand according to claim 1, characterized in that the lower end of the upper thumb joint (211) is provided with three or more sawtooth structures (2111), and the end of the lower thumb joint (212) is formed with a groove (2122); the jacking mechanism (2121) comprises a fixed block (21211) with a protrusion and a spring (21212), the fixed block (21211) is arranged in the groove (2122) and can slide back and forth along the inner wall of the groove (2122), and the spring (21212) is arranged between the bottom of the groove (2122) and the fixed block (21211); when the thumb upper joint (211) is pushed to rotate along the rotating shaft (213), the spring (21212) is extruded, the protrusion on the fixing block (21211) slides out from the position between two adjacent saw tooth structures (2111), the spring (21212) is gradually reset, and the protrusion on the fixing block (21211) slides into the position between the other two adjacent saw tooth structures (2111).

6. The intelligent bionic prosthetic hand according to any one of claims 1-5, characterized in that a control panel (14) is arranged at the back of the shell (11) of the palm component (1), and the control panel (14) is electrically connected with the circuit board (13) and used for controlling the grabbing mode of the finger component (2).

7. The intelligent bionic prosthetic hand according to claim 6, characterized in that a rotary wrist (4) is further fixed at the lower end of the shell (11), the rotary wrist (4) comprises a cylindrical support (41) and a rotary body (42), both ends of the cylindrical support (41) are open, the rotary body (42) is arranged at the position of one end opening of the cylindrical support (41) and forms a relative rotation connection with the inner side surface of the cylindrical support (41); the middle part of the rotating body (42) is provided with an electric slip ring (43), and the electric slip ring (43) is electrically connected with the circuit board (13) through a connecting lead.

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