CN205668273U - Bionic mechanical hand - Google Patents

Abstract

This utility model relates to the technical field of machinery, especially relate to a kind of bionic mechanical hand, including: mechanical hand body and the multiple mechanical fingers being successively set on described mechanical hand body, and each described mechanical finger all can be curved and stretching by the most described mechanical hand body；Each described mechanical finger all includes the first gear unit and the multiple phalanges set gradually, the described phalanges of least significant end is plugged in the inside of described mechanical hand body, described first gear unit is arranged on the described phalanges of least significant end, and the clutch end of described first gear unit saves described phalanges with next and is connected, and drive this next joint described phalanges the most described mechanical hand body bending and stretching, solve bionic mechanical hand present in prior art and can not realize the bending and stretching of single finger, the technical problem that motility is relatively low.

Description

Bionic mechanical hand

Technical field

This utility model relates to the technical field of machinery, especially relates to a kind of bionic mechanical hand.

Background technology

Hands is one of organ that human body is the dexterousst, and it can complete various fine work, and bionic mechanical hand is based on to people A kind of machinery that fingerprint is imitative and designs, the mechanical hand of high-freedom degree can complete a series of compound action, is equipped with In robot, the action making robot is the most flexible, it is achieved to the imitation of human arm it can also be used to medical prostheses, replace hands Arm, solve amputee live inconvenience problem.

The motion mode of existing bionic mechanical hand finger typically has two kinds, and one is thumb self-movement, other four fingers connection Dynamic, two is thumb and forefinger self-movement, and other three fingers linkages, the degree of freedom of both motion modes is the highest, it is impossible to realize The bending and stretching of single finger, it is impossible to accurately control finger movement, reduces the motility of bionic mechanical hand.

Utility model content

The purpose of this utility model is to provide a kind of bionic mechanical hand, solves bionic mechanical present in prior art Hands can not realize the bending and stretching of single finger, the technical problem that motility is relatively low.

For solving the problems referred to above, this utility model provides a kind of bionic mechanical hand, including: mechanical hand body with set gradually Multiple mechanical fingers on described mechanical hand body, and each described mechanical finger all can the most described mechanical hand basis Body is curved and stretching；

Each described mechanical finger all includes the first gear unit and the multiple phalanges set gradually, the described finger of least significant end Bone is plugged in the inside of described mechanical hand body, and described first gear unit is arranged on the described phalanges of least significant end, and described The clutch end of the first gear unit saves described phalanges with next and is connected, and drives this next joint the most described machine of described phalanges Tool hands body bending and stretching.

Further, each described mechanical finger also includes that the second gear unit, described second gear unit are arranged on and remove Foremost with least significant end outside described phalanges on, be curved for driving adjacent next to save described phalanges and stretch fortune Dynamic.

Specifically, described first gear unit and described second gear unit all include: the first power source, the first gear and First crown gear, described first gear is connected with the output shaft of described first power source, and described first crown gear is with described First gear engagement, and the plane at the plane at described first gear place and described first crown gear place is mutually perpendicular to；

Described first crown gear connects with next described phalanges of joint corresponding, and the rotation of described first crown gear can Next described phalanges of joint corresponding is driven to be curved and stretching.

Further, multiple described mechanical fingers are respectively as follows: thumb, forefinger, middle finger, the third finger and little finger, are positioned at The described mechanical finger of one of them of side is thumb；

Second power source is set on described mechanical hand body, the end face of the described phalanges of the least significant end of described thumb is arranged Have and turn hole, the output shaft of described second power source fix be plugged in described in turn the inside in hole, so that described thumb can be towards One lateral movement of described mechanical hand body.

Further, described forefinger, described middle finger, institute that described nameless and described little finger is adjacent with phalanges foremost It is provided with connecting rod in stating phalanges；

First crown gear of one end of described connecting rod and adjacent described second gear unit is fixing to be connected, the other end with Described phalanges foremost connects, and described phalanges foremost and the described phalanges being adjacent are rotationally connected.

Further, also to include that the 3rd gear unit, described 3rd gear unit are arranged on described for described bionic mechanical hand The inside of mechanical hand body is for driving described forefinger, the opening and closing planar of described nameless and described little finger；

Described 3rd gear unit includes linear motion portion and opening and closing portion, described forefinger, the described third finger and described little thumb The described phalanges of the least significant end referred to all is connected with described opening and closing portion, and described linear motion portion is used for driving described opening and closing portion to move, Thus realize described forefinger, the opening and closing planar of described nameless and described little finger.

Specifically, described linear motion portion includes the 3rd power source, the second gear and tooth bar, and described second gear is with described The output shaft of the 3rd power source connects, and engages with described tooth bar；

Described tooth bar is arranged on the medial wall of described mechanical hand body, and can be in the medial wall of described mechanical hand body On move along a straight line；

Described opening and closing portion includes the first knee, the second knee and the 3rd knee, one end of described first knee and described One end of two knees is connected with the described phalanges of the least significant end of described forefinger and the described third finger respectively, and the other end is simultaneously with described Tooth bar is hinged；

Described one end of 3rd knee is connected with the described phalanges of the least significant end of described little finger, the other end and described second Knee is hinged.

Further, described bionic mechanical hand also include wrist body, described wrist body include first-hand carpal joint and Second-hand's carpal joint；Described first-hand carpal joint is connected with described mechanical hand body, described second-hand's carpal joint and described first Wrist joint is rotationally connected；

Being provided with the 4th gear unit on described second-hand's carpal joint, described 4th gear unit is used for driving described first Wrist joint the most described wrist body bends.

Specifically, described 4th gear unit includes the 4th power source, the 3rd gear and the second crown gear, the described 4th Power source is arranged on the carpal inside of described second-hand, and described 3rd gear is connected with the output shaft of described 4th power source；

Described crown gear is connected with described first-hand carpal joint, and is connected with described 3rd gear；Described 3rd gear The plane at place is vertical with the plane at described second crown gear place.

Further, described bionic mechanical hand also includes arm body, described arm body and described second-hand's carpal joint Connect, and described arm body be internally provided with the 5th power source, for the energy and controller, the output of described 5th power source Axle and described wrist body connect, and described 5th power source drives described wrist body to rotate relative to described arm body；

Described for the energy and described controller, described first power source, described second power source, described 3rd power source, Described 4th power source and described 5th power source electrical connection；

Described controller and described first power source, described second power source, described 3rd power source, described 4th power Source and described 5th power source connect, and whether export for controlling its power respectively.

A kind of bionic mechanical hand that this utility model provides, including: mechanical hand body be successively set on mechanical hand body On multiple mechanical fingers, and each mechanical finger all can individually be curved and stretching by relative mechanical hands body；Often Individual mechanical finger all includes the first gear unit and the multiple phalanges set gradually, and the phalanges of least significant end is plugged in mechanical hand body Inside, the first gear unit is arranged on the phalanges of least significant end, and the clutch end of the first gear unit refers to next joint Bone connects, and drives this next joint phalanges relative mechanical hands body bending and stretching.Using said structure, each mechanical finger is equal Can be curved and stretching by its first corresponding gear unit, and separate, the most not between each motion Impact, it is achieved that the independent bending and stretching of the single finger of bionic mechanical hand, improves bionic mechanical hand motility.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model detailed description of the invention or technical scheme of the prior art, below by right In detailed description of the invention or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below In accompanying drawing be embodiments more of the present utility model, for those of ordinary skill in the art, do not paying creativeness On the premise of work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 provides the structural representation of bionic mechanical hand for this utility model；

Fig. 2 is the sectional view in the bionic mechanical hand A-A direction shown in Fig. 1；

Fig. 3 is the sectional view of the bionic mechanical hand thumb shown in Fig. 1；

Fig. 4 is the sectional view of the bionic mechanical hand forefinger shown in Fig. 1；

Fig. 5 is the enlarged drawing of the bionic mechanical hand wrist body shown in Fig. 1；

Fig. 6 is the sectional view in the bionic mechanical hand wrist body B-B direction shown in Fig. 5；

Fig. 7 is the motion diagram of the bending and stretching of the bionic mechanical hand thumb shown in Fig. 1；

Fig. 8 is the motion diagram of the bending and stretching of the bionic mechanical hand forefinger shown in Fig. 1.

Reference:

10-mechanical hand body；11-the second power source；12-the 3rd power source；

13-the second gear；14-tooth bar；15-the first knee；

16-the second knee；17-the 3rd knee；20-thumb；

21-thumb refers to calcaneus；22-thumb proximal phalanx；23-thumb tip bone；

24-turns hole；25-thumb refers to shell；26-thumb closely saves and refers to shell；

27-thumb tip shell；30-forefinger；31-forefinger refers to calcaneus；

32-forefinger proximal phalanx；33-middle phalanx of index finger；34-index finger tip bone；

35-forefinger refers to shell；36-forefinger closely saves and refers to shell；In 37-forefinger, joint refers to shell；

38-index finger tip shell；39-highlights circular shaft；40-middle finger；

50-is nameless；60-little finger；71-the first power source；

72-the first gear；73-the first crown gear；8-connecting rod；

90-wrist body；The first-hand carpal joint of 91-；92-second-hand's carpal joint；

93-the 4th power source；94-the 3rd gear；95-the second crown gear；

100-arm body；101-the 5th power source；102-is for the energy；

103-controller；104-battery case；105-lithium battery；

106-wire harness；107-securing member.

Detailed description of the invention

Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described, it is clear that described Embodiment is a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, this The every other embodiment that field those of ordinary skill is obtained under not making creative work premise, broadly falls into this practicality Novel protected scope.

In description of the present utility model, it should be noted that term " on ", D score, " vertically ", " level ", " interior ", Orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, are for only for ease of this reality of description Describe with novel and simplification rather than indicate or imply that the device of indication or element must have specific orientation, with specifically Azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ", " the 3rd " It is only used for describing purpose, and it is not intended that indicate or hint relative importance.

In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace Dress ", should be interpreted broadly " being connected ", " connection ", for example, it may be fix connection, it is also possible to be to removably connect, or integratedly Connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, on can understanding as the case may be State term concrete meaning in this utility model.

Fig. 1 provides the structural representation of bionic mechanical hand for this utility model；Fig. 2 is the bionic mechanical hand A-A shown in Fig. 1 The sectional view in direction；Fig. 3 is the sectional view of the bionic mechanical hand thumb shown in Fig. 1；Fig. 4 is the bionic mechanical hand food shown in Fig. 1 The sectional view referred to；Fig. 5 is the enlarged drawing of the bionic mechanical hand wrist body shown in Fig. 1；Fig. 6 is the bionic mechanical hand shown in Fig. 5 The sectional view in wrist body B-B direction；Fig. 7 is the motion diagram of the bending and stretching of the bionic mechanical hand thumb shown in Fig. 1；Fig. 8 Motion diagram for the bending and stretching of the bionic mechanical hand forefinger shown in Fig. 1.

As shown in figures 1-8, present embodiment discloses a kind of bionic mechanical hand, including: mechanical hand body 10 with set gradually Multiple mechanical fingers on mechanical hand body, each mechanical finger all includes the first gear unit and the multiple fingers set gradually Bone, the phalanges of least significant end is plugged in the inside of mechanical hand body 10, and the first gear unit is arranged on the phalanges of least significant end, and the The clutch end of one gear unit is connected with next joint phalanges, and drive this next joint phalanges relative mechanical hands body bending with Stretch.

Further, each mechanical finger also include the second gear unit, the second gear unit be arranged on except foremost and On phalanges outside least significant end, for driving next adjacent joint phalanges to be curved and stretching.

The present embodiment indication " phalanges foremost " and " phalanges of least significant end ", be based on the orientation shown in accompanying drawing or For position relationship.Specifically, " phalanges foremost " refers to the phalanges away from mechanical hand body, named finger tip bone, " least significant end Phalanges " refer to be plugged in the phalanges of mechanical hand body interior, named finger calcaneus.For convenience of describing, as it is shown in figure 1, multiple machine Tool finger is respectively designated as: thumb 20, forefinger 30, middle finger 40, nameless 50 and little finger 60, is positioned at side one of them Mechanical finger is thumb 20；For thumb 20, thumb refers to arrange between calcaneus 21 and thumb tip bone 23 thumb proximal phalanx 22； For forefinger 30, middle finger 40, nameless 50 and little finger 60, as a example by forefinger 30, forefinger refers to calcaneus 31 and index finger tip bone 34 Between set gradually forefinger proximal phalanx 32 and middle phalanx of index finger 33, nameless 50 the most identical with forefinger 30 length structure, in Refer to 40, little finger 60 is identical from the structure of forefinger 30 but size is different.

The effect of the first gear unit is to realize each mechanical finger independent relative mechanical hands body be curved and stretch Motion, it is ensured that the motion between each mechanical finger is separate, does not interfere with each other, and the structure that can realize above-mentioned effect all can conduct First gear unit of the present embodiment.

The effect of the second gear unit is that each phalanges realizing each mechanical finger is curved and stretching, it is ensured that Each phalanges self-movement, improves the motility of each mechanical finger, and the structure that can realize above-mentioned effect all can be as this enforcement Second gear unit of example.

As shown in Figure 3 and Figure 4, specifically, in the present embodiment, the first gear unit and the second gear unit all include: First power source the 71, first gear 72 and the first crown gear 73, the first gear 72 is connected with the output shaft of the first power source 71, First crown gear 73 engages with the first gear 72, and the plane at the first gear 72 place and the first crown gear 73 place is flat Face is mutually perpendicular to；

First crown gear 73 connects with next joint phalanges corresponding, and the rotation of the first crown gear 73 can drive accordingly Next joint phalanges be curved and stretching.

The bending and stretching of the effect driving mechanical finger of the first gear 72 and the first crown gear 73, other are capable of The structure of this effect such as connecting rod, belt, bracing wire etc. all should belong to the protection domain of the present embodiment.

Connected mode between first crown gear 73 connects with next joint phalanges corresponding can be bonding, welding, etc. Deng, as long as the rotation that can realize the first crown gear 73 can drive next joint phalanges corresponding to be curved and stretching ?.

Further, mechanical hand body 10 arranging the second power source 11, thumb refers to be provided with on the end face of calcaneus 21 and turns Hole 24, the output shaft of the second power source 11 is fixed and is plugged in the inside turning hole 24, so that thumb 20 can towards mechanical hand originally One lateral movement of body 10.

As shown in Figure 3 and Figure 7, as a kind of detailed description of the invention of the present embodiment, thumb refers to arrange first on calcaneus 21 Gear unit, the first gear unit includes the first power source the 71, first gear 72 and the first crown gear 73, the first gear 72 with The output shaft of the first power source 71 connects, and the first crown gear 73 engages with the first gear 72, the first crown gear 73 and thumb Proximal phalanx 22 is bonding, when the first power source 71 operates, drives the first gear 72 to rotate with the first crown gear 73, the first tooth The plane of the plane and the first crown gear 73 place of taking turns 72 places is mutually perpendicular to, and can the operating of the first power source 71 be converted into The bending and stretching motion of thumb proximal phalanx 22.Same, thumb proximal phalanx 22 arranges the second gear unit, second passes Moving cell includes the first power source the 71, first gear 72 and the first crown gear 73, the first gear 72 and the first power source 71 Output shaft connects, and the first crown gear 73 engages with the first gear 72, and the first crown gear 73 is bonding with thumb tip bone 23, the One power source 71 operates, and the first gear 72 and the first crown gear 73 drive thumb tip bone 23 bending and stretching.

All being arranged with finger shell on each phalanges of thumb 20, specifically, thumb refers to that being cased with thumb outside calcaneus 21 refers to shell 25, Being cased with thumb outside thumb proximal phalanx 22 closely to save and refer to shell 26, be cased with thumb tip shell 27 outside thumb tip bone 23, each refers between shell Separate, it is independent of each other, due to the effect of frictional force, phalanges is relative to referring to that shell will not skid off, and each refers to that each can be referred to by shell Fastening parts in bone and phalanges, plays a protective role to phalanges simultaneously.

The hole 24 that turns being connected with the second power source 11 output shaft may be provided at thumb and refers to refer to calcaneus 21 with shell 25 stretches out thumb One end, it is achieved the connection of thumb 20 and mechanical hand body 10.

Further, it is provided with connecting rod 8 in the middle phalanx of forefinger 30, middle finger 40, nameless 50 and little finger 60；

One end of connecting rod 8 is fixing with the first crown gear 73 of the second adjacent gear unit to be connected, the other end and finger tip Bone connects, and finger tip bone is rotationally connected with middle phalanx.

As shown in Figure 4 and Figure 8, as a kind of detailed description of the invention of the present embodiment, as a example by forefinger, forefinger refers to calcaneus 31 On the first gear unit is set, the first gear unit includes the first power source the 71, first gear 72 and the first crown gear 73, One gear 72 is connected with the output shaft of the first power source 71, and the first crown gear 73 engages with the first gear 72, the first crown tooth Wheel 73 is bonding with forefinger proximal phalanx 32, when the first power source 71 operates, drives the first gear 72 and the first crown gear 73 Rotating, the plane at the first gear 72 place is mutually perpendicular to the plane at the first crown gear 73 place, can be by the first power source 71 Operating be converted into forefinger proximal phalanx 32 bending and stretching motion.Same, forefinger proximal phalanx 32 arranges the first biography Moving cell, the first gear unit includes the first power source the 71, first gear 72 and the first crown gear 73, the first gear 72 and The output shaft of one power source 71 connects, and the first crown gear 73 engages with the first gear 72, in the first crown gear 73 and forefinger Joint phalanges 33 is bonding, is provided with connecting rod 8 in middle phalanx of index finger 33, and one end of connecting rod 8 is fixing with the first crown gear 73 to be connected, The other end is connected with index finger tip bone 34, and the first power source 71 operates, and the first gear 72 and the first crown gear 73 drive forefinger Middle phalanx 33 bending and stretching, bending and stretching meeting drivening rod 8 bending and stretching of middle phalanx of index finger 33, carry further The dynamic index finger tip bone 34 being connected with connecting rod 8 moves.

As depicted in figs. 1 and 2, further, bionic mechanical hand also includes that the 3rd gear unit, the 3rd gear unit are arranged In the inside of mechanical hand body 10 for driving forefinger 30, nameless 50 and little finger 60 opening and closing planar；

3rd gear unit includes linear motion portion and opening and closing portion, forefinger 30, nameless 50 and the finger calcaneus of little finger 60 All being connected with opening and closing portion, linear motion portion is used for driving opening and closing portion to move, thus realizes forefinger 30, nameless 50 and little finger 60 Opening and closing planar.

Specifically, linear motion portion includes the 3rd power source the 12, second gear 13 and tooth bar 14, the second gear 13 and the 3rd The output shaft of power source 12 connects, and engages with tooth bar 14；

Tooth bar 14 is arranged on the medial wall of mechanical hand body 10, and can do straight on the medial wall of mechanical hand body 10 Line moves；

Opening and closing portion includes the first knee the 15, second knee 16 and the 3rd knee 17, one end of the first knee 15 and second curved One end of bar 16 finger calcaneus with forefinger 30 and nameless 50 respectively is connected, the most hinged with tooth bar 14 while of the other end；

One end of 3rd knee 17 is connected with the finger calcaneus of little finger 60, and the other end and the second knee 16 are hinged.

The effect of the second gear 13 and tooth bar 14 is that the power of the 3rd power source 12 is delivered to opening and closing portion, and other can be real The structure of now this effect such as connecting rod, belt, bracing wire etc. all should belong to the protection domain of the present embodiment.

The effect of first knee the 15, second knee 16 and the 3rd knee 17 is to drive forefinger 30, nameless 50 and little finger 60 planar opening and closing, other are capable of the structure such as belt of this effect, and bracing wire etc. all should belong to this enforcement The protection domain of example.

As shown in Figure 4, as a kind of detailed description of the invention of the present embodiment, as a example by forefinger 30, each phalanges of forefinger On be all arranged with finger shell, specifically, forefinger refers to that being cased with forefinger outside calcaneus 31 refers to, with shell 35, be cased with forefinger outside forefinger proximal phalanx 32 Nearly joint refers to shell 36, is cased with in forefinger joint and refers to shell 37, be cased with index finger tip shell 38 outside index finger tip bone 34 outside middle phalanx of index finger 33, Each refers between shell separate, is independent of each other, and due to the effect of frictional force, phalanges is relative to referring to that shell will not skid off, and each refers to shell Phalanges can be played a protective role by fastening parts in each phalanges and phalanges simultaneously.

Forefinger refers to, with forefinger, shell 35 refers to that one end that calcaneus 31 contacts is provided with prominent circular shaft 39, can be inserted into mechanical hand body 10 In corresponding groove, it is achieved forefinger 30 and the connection of mechanical hand body 10；Forefinger refers to the other end of shell 35 arranges the first knee 15, the first knee 15 is hinged with tooth bar 14.It is arranged on the 3rd power source 12 within mechanical hand body 10 when operating, the second gear 13 promote tooth bars 14 movable, the operating of the 3rd power source 12 are converted into the linear motion of tooth bar 14, and tooth bar 14 promotes first curved Bar 15 is outside mechanical hand body 10 or medial motion, it is achieved the opening or closing motion planar of forefinger 30.

The third finger 50 is identical with forefinger with the principle of little finger 60 planar opening and closing.

As shown in Fig. 1, Fig. 5 and Fig. 6, on the basis of above-described embodiment, bionic mechanical hand also includes wrist body 90, hands Wrist body 90 includes first-hand carpal joint 91 and second-hand's carpal joint 92；First-hand carpal joint 91 is connected with mechanical hand body 10, Second-hand's carpal joint 92 is rotationally connected with first-hand carpal joint 91；

Being provided with the 4th gear unit on second-hand's carpal joint 92, the 4th gear unit is used for driving first-hand carpal joint 91 Wrist body 90 relatively bends.

Specifically, the 4th gear unit includes the 4th power source the 93, the 3rd gear 94 and the second crown gear 95, and the 4th moves Power source 93 is arranged on the inside of second-hand's carpal joint 92, and the 3rd gear 94 is connected with the output shaft of the 4th power source 93；

Second crown gear 95 is connected with first-hand carpal joint 91, and is connected with the 3rd gear 94；3rd gear 94 place Plane vertical with the plane at the second crown gear 95 place.

The effect of the 3rd gear 94 and the second crown gear 95 is to drive first-hand carpal joint 91 and mechanical hand body 10 Bending up and down, other are capable of the structure such as connecting rod of this effect, belt, and bracing wire etc. all should belong to the protection of the present embodiment Scope.

As a kind of detailed description of the invention of the present embodiment, when the 4th power source 93 operates, drive the 3rd gear 94 with Second crown gear 95 rotates, and the plane at the 3rd gear 94 place is mutually perpendicular to the plane at the second crown gear 95 place, can The operating of the 4th power source 93 is converted into first-hand relative wrist body 90 curvature movement of carpal joint 91, with first-hand carpal joint The 91 mechanical hand bodies 10 being connected are also carried out bending up and down.

On the basis of above-described embodiment, bionic mechanical hand also includes arm body 100, arm body 100 and second-hand Carpal joint 92 connects, and arm body 100 be internally provided with the 5th power source 101, for the energy 102 and controller 103, the 5th Output shaft and the wrist body 90 of power source 101 connect, and the 5th power source 101 drives wrist body 90 relative arm body 100 Rotate；

For the energy 102 and controller the 103, first power source the 71, second power source the 11, the 3rd power source the 12, the 4th power Source 93 and the 5th power source 101 electrically connect；

Controller 103 and first power source the 71, second power source the 11, the 3rd power source the 12, the 4th power source 93 and the 5th Power source 101 connects, and whether exports for controlling its power respectively.

First power source the 71, second power source the 11, the 3rd power source the 12, the 4th power source 93 and the 5th power source 101 carry Mode for power can be but not limited to fluid pressure type, pneumatic type, electrodynamic type, mechanical type, specifically, in the present embodiment, all Using reducing motor, reducing motor has simplification design, saves the advantages such as space, reliability is high, stability is strong.

Specifically, in the present embodiment, including battery case 104 and lithium battery 105 for the energy 102, battery case 104 is arranged on Near one end of the 5th power source 101 in arm body 100, battery case 104 is built with lithium battery 105, lithium battery 105 and control The power input of device 103 connects, the signal output part of controller 103 respectively with first power source the 71, second power source 11, the Three power source the 12, the 4th power sources 93 and the 5th power source 101 are connected by wire harness 106.

On the basis of above-described embodiment, arm body arranges securing member 107, specifically away from one end of mechanical hand body Ground, securing member 107 can select metal tape, is connected with the shoulder of robot, it is also possible to select binder, as medical prostheses with section The shoulder of limb person connects.

On the basis of above-described embodiment, bionic mechanical hand also includes controlling device, specifically, controls in the present embodiment Device includes that wireless receiver, brain wave sensor and muscle electric transducer, wireless receiver input with the signal of controller 103 End connects, and brain wave sensor gathers eeg signal and sends eeg signal, muscle electric transducer device to wireless receiver Gather the muscle signal of telecommunication and send the muscle signal of telecommunication to wireless receiver.

As a kind of detailed description of the invention of the present embodiment, the current acquisition end of brain wave sensor and human body forehead and ear Portion connects, and signal output part is connected with computer, the brain wave sensor weak current to sensing from human body forehead and ear, Carrying out digital-to-analogue modulus signal conversion, and the signal after conversion is transported to computer, computer can show human body electroencephalogram's ripple in real time Oscillogram, different wave spectrograms detected according to human brain situation of change of brain wave when doing different command, then human brain sent out Data mode when going out certain order is analyzed, thus obtains command code accurately, then by programming Control single-chip microcomputer to nothing Line receiver sends command adapted thereto, and this command adapted thereto is sent to controller 103 by wireless receiver, and controller 103 is to controlling machine The power source output voltage in each joint of tool hands and electric current, control the operating of corresponding power source, drive the motion of each manipulator joint, Complete various action.

The electrical signal collection end of muscle electric transducer is connected with human arm or other flesh epidermis faces, signal output part and meter Calculation machine connects, and the electrical signal collection end of sensor, from human arm or other flesh skin acquisition surface muscle signals of telecommunication, is sent to meter Calculation machine, different electromyographic signals is analyzed processing, by programming Control single-chip microcomputer, wireless receiver is sent phase by computer Should instruct, this command adapted thereto is sent to controller 103 by wireless receiver, and controller 103 moves controlling each joint of mechanical hand Power source output voltage and electric current, control the operating of corresponding power source, drive the motion of each manipulator joint, complete various action.

Last it is noted that various embodiments above is only in order to illustrate the technical solution of the utility model, rather than it is limited System；Although being described in detail this utility model with reference to foregoing embodiments, those of ordinary skill in the art should Understand: the technical scheme described in foregoing embodiments still can be modified by it, or to the most some or all of Technical characteristic carries out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from this practicality new The scope of type each embodiment technical scheme.

Claims (10)

1. a bionic mechanical hand, it is characterised in that including: mechanical hand body and being successively set on described mechanical hand body Multiple mechanical fingers, and each described mechanical finger all can be curved and stretch fortune by the most described mechanical hand body Dynamic；

Each described mechanical finger all includes the first gear unit and the multiple phalanges set gradually, and the described phalanges of least significant end is inserted Being located at the inside of described mechanical hand body, described first gear unit is arranged on the described phalanges of least significant end, and described first The clutch end of gear unit saves described phalanges with next and is connected, and drives this next joint the most described mechanical hand of described phalanges Body bending and stretching.

Bionic mechanical hand the most according to claim 1, it is characterised in that each described mechanical finger also includes the second transmission Unit, described second gear unit be arranged on except foremost with least significant end in addition to described phalanges on, for drive adjacent under One saves described phalanges is curved and stretching.

Bionic mechanical hand the most according to claim 2, it is characterised in that described first gear unit and described second transmission Unit all includes: the first power source, the first gear and the first crown gear, and described first gear is defeated with described first power source Shaft connects, and described first crown gear engages with described first gear, and the plane at described first gear place and described the The plane at one crown gear place is mutually perpendicular to；

Described first crown gear connects with next described phalanges of joint corresponding, and the rotation of described first crown gear can drive Next described phalanges of joint corresponding is curved and stretching.

Bionic mechanical hand the most according to claim 3, it is characterised in that multiple described mechanical fingers are respectively as follows: thumb, food Finger, middle finger, the third finger and little finger, one of them the described mechanical finger being positioned at side is thumb；

Second power source is set on described mechanical hand body, the end face of the described phalanges of the least significant end of described thumb is provided with and turns Hole, the output shaft of described second power source fix be plugged in described in turn the inside in hole, so that described thumb can be towards described One lateral movement of mechanical hand body.

Bionic mechanical hand the most according to claim 4, it is characterised in that described forefinger, described middle finger, the described third finger and It is provided with connecting rod in the described phalanges that described little finger is adjacent with phalanges foremost；

First crown gear of one end of described connecting rod and adjacent described second gear unit is fixing to be connected, the other end with before The described phalanges of end connects, and described phalanges foremost and the described phalanges being adjacent are rotationally connected.

Bionic mechanical hand the most according to claim 5, it is characterised in that also include the 3rd gear unit, described 3rd transmission Unit is arranged on the inside of described mechanical hand body for driving described forefinger, described nameless and described little finger planar Opening and closing；

Described 3rd gear unit includes linear motion portion and opening and closing portion, described forefinger, described nameless and described little finger The described phalanges of least significant end is all connected with described opening and closing portion, and described linear motion portion is used for driving described opening and closing portion to move, thus Realize described forefinger, the opening and closing planar of described nameless and described little finger.

Bionic mechanical hand the most according to claim 6, it is characterised in that described linear motion portion include the 3rd power source, Second gear and tooth bar, described second gear is connected with the output shaft of described 3rd power source, and engages with described tooth bar；

Described tooth bar is arranged on the medial wall of described mechanical hand body, and can do on the medial wall of described mechanical hand body Linear motion；

Described opening and closing portion includes the first knee, the second knee and the 3rd knee, one end of described first knee and described second curved One end of bar is connected with the described phalanges of the least significant end of described forefinger and the described third finger respectively, with described tooth bar while of the other end Hinged；

One end of described 3rd knee is connected with the described phalanges of described little finger least significant end, the other end and described second knee hinge Connect.

Bionic mechanical hand the most according to claim 7, it is characterised in that also include wrist body, described wrist body bag Include first-hand carpal joint and second-hand's carpal joint；Described first-hand carpal joint is connected with described mechanical hand body, described second-hand Carpal joint is rotationally connected with described first-hand carpal joint；

Being provided with the 4th gear unit on described second-hand's carpal joint, described 4th gear unit is used for driving described first wrist Joint the most described wrist body bending.

Bionic mechanical hand the most according to claim 8, it is characterised in that described 4th gear unit includes the 4th power Source, the 3rd gear and the second crown gear, described 4th power source is arranged on the carpal inside of described second-hand, and the described 3rd Gear is connected with the output shaft of described 4th power source；

Described second crown gear is connected with described first-hand carpal joint, and is connected with described 3rd gear；Described 3rd gear The plane at place is vertical with the plane at described second crown gear place.

Bionic mechanical hand the most according to claim 9, it is characterised in that also include arm body, described arm body with Described second-hand's carpal joint connects, and described arm body be internally provided with the 5th power source, for the energy and controller, described The output shaft of the 5th power source and described wrist body connect, and described 5th power source drives the described the most described hands of wrist body Arm body rotates；

Described for the energy and described controller, described first power source, described second power source, described 3rd power source, described 4th power source and described 5th power source electrical connection；

Described controller and described first power source, described second power source, described 3rd power source, described 4th power source and Described 5th power source connects, and whether exports for controlling its power respectively.