CN210277417U

CN210277417U - Multifunctional grasping hand

Info

Publication number: CN210277417U
Application number: CN201920155061.3U
Authority: CN
Inventors: 陆汉林; 吴胜彪
Original assignee: Shenzhen Hengta Medical Equipment Co ltd
Current assignee: Shenzhen Hengta Medical Equipment Co ltd
Priority date: 2019-01-29
Filing date: 2019-01-29
Publication date: 2020-04-10
Anticipated expiration: 2029-01-29

Abstract

A multifunctional grasping hand is arranged in an artificial limb receiving cavity and comprises a palm shell, a driving component, a grasping mechanism and a thumb mechanism; one end of the palm shell is provided with a connecting part, the other end of the palm shell is provided with a holding mechanism, the connecting part is used for being connected with the prosthetic socket, a hollow cavity is further arranged in the palm shell, and the driving assembly is arranged in the hollow cavity; the holding mechanism is in driving connection with the driving component, and the driving component can drive the holding mechanism to bend and grab the object or stretch and put down the object; the thumb mechanism is arranged on the palm shell and comprises a thumb head, the thumb head is rotatably arranged on the palm shell and is provided with a first limit position closest to the palm center of the palm shell and a second limit position farthest from the palm center, the thumb head can be self-locked at a plurality of positions in the process of swinging from the second limit position to the first limit position, and the thumb mechanism further comprises a pressing piece which can be pressed to enable the thumb head to release self-locking and return to the second limit position from the position. The multifunctional grasping hand can grasp various articles.

Description

Multifunctional grasping hand

Technical Field

The utility model relates to an artificial limb field specifically is a multi-functional gripping hand for amputation patient.

Background

Amputees usually lose many functions which are possessed by both hands, such as pinching small objects, in life, and usually wear artificial limbs in order to possess more lost functions, while most artificial limbs in the prior art are not easy to grasp the small objects, which brings great trouble to the impoverished amputees in life.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In order to solve the above problems, the utility model provides a pair of multi-functional gripping hand can realize the article that the multiple size of gripping is fit for, reaches screw, button etc. from childhood, reaches articles homoenergetic grippings such as cup, bowl and handle greatly.

Technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: a multifunctional grasping hand is arranged in an artificial limb receiving cavity and comprises a palm shell, a driving component, a grasping mechanism and a thumb mechanism; one end of the palm shell is provided with a connecting part, the other end of the palm shell is provided with a holding mechanism, the connecting part is used for being connected with the prosthetic socket, a hollow cavity is further arranged in the palm shell, and the driving assembly is arranged in the hollow cavity; the holding mechanism is in driving connection with the driving component, and the driving component can drive the holding mechanism to bend and grab the object or stretch and put down the object;

the thumb mechanism is arranged on the palm shell and comprises a thumb head, the thumb head is rotatably arranged on the palm shell and is provided with a first limit position closest to the palm center of the palm shell and a second limit position farthest from the palm center, the thumb head can be self-locked at a plurality of positions in the process of swinging from the second limit position to the first limit position, and the thumb mechanism further comprises a pressing piece which can be pressed to enable the thumb head to release self-locking and return to the second limit position from the position.

Preferably, the palm shell comprises an upper shell and a lower shell, the upper shell and the lower shell are fixedly connected, a hollow cavity is formed in the upper shell, and one end of the upper shell is connected with one end of the lower shell to form a connecting part; the thumb mechanism is arranged on the upper shell, and one end of the holding mechanism is arranged on the lower shell.

Preferably, the multifunctional grasping hand further comprises a wire buckle, the driving assembly further comprises a sliding part, a first connecting wire and a second connecting wire, the sliding part is arranged on one side of the lower shell in the hollow cavity, one end of the first connecting wire is in driving connection with the holding mechanism, the other end of the first connecting wire is connected with the sliding part, one end of the second connecting wire is connected with the sliding part, and the other end of the second connecting wire extends out of the connecting part to be connected with the wire buckle.

Preferably, the multifunctional grasping hand further comprises a tension spring, one side of the lower shell in the hollow cavity is further provided with a tension spring fixing column, one end of the tension spring is connected with the tension spring fixing column, and the other end of the tension spring is connected with the sliding component; when the wire buckle is pulled, the tension spring is in a stretched state.

Preferably, the multifunctional grasping hand further comprises a connecting piece, the connecting piece is rotatably arranged in the connecting part, a first opening is formed in the center of the top of the connecting piece, a boss is further arranged at the bottom of the connecting piece, a second opening is formed in one side of the boss, the first opening is communicated with the second opening, and the wire buckle is detachably connected with the connecting piece at the second opening;

the wire buckle is pulled to be far away from the connecting part, the sliding component can be driven to be far away from one end provided with the holding mechanism, and the object can be further grabbed by driving the bending of the holding mechanism.

Preferably, the holding mechanism is a finger which is made of flexible material, the center of the finger and the back of the finger are both provided with a plurality of cutting grooves at the same position, the cutting grooves enable the finger to be divided into a plurality of finger sections, one end of the first connecting line is fixedly connected with the fingertip of the finger, and the other end of the first connecting line penetrates through one side of the center of the finger, extends out of the tail end of the finger and is connected with the sliding part; when the wire button is pulled, the fingers can only bend towards the palm center.

Preferably, the finger tip of the holding mechanism is provided with a nail-shaped protrusion, and the center of the thumb head faces the palm.

Preferably, the thumb mechanism further comprises a connecting shell and a transmission piece, the bottom of the thumb head is a driven part, the driven part is rotatably arranged on the upper shell, the connecting shell is fixedly connected with the upper shell, the pressing piece is in driving connection with the transmission piece, and the transmission piece and the driven part are in driving connection with a ratchet structure and can be self-locked.

Preferably, the connecting shell is provided with an opening part for exposing the pressing piece, the pressing piece is telescopically arranged in the opening part, one side of the pressing piece is provided with a notch, one side of the notch is a guide inclined plane, the transmission piece is rotatably arranged on the connecting shell, and an inclined sliding block in sliding fit with the guide inclined plane is arranged on the transmission piece.

Preferably, the multifunctional grasping hand further comprises a clamping spring and a clamping block, the bottom of the boss is further provided with a groove body, the clamping block is slidably arranged in the groove body, one end of the clamping block can be exposed out of the groove body, and the clamping spring is arranged between the groove bottom of the groove body and the clamping block;

the boss can be slidably and detachably mounted on the prosthetic socket, and the clamping spring and the clamping block are arranged so that the hand can be relatively and stably mounted on the prosthetic socket in use.

Advantageous effects

The utility model has the advantages that: the holding mechanism in the palm shell is arranged at one end of the palm shell far away from the connecting part, the holding mechanism is driven by the driving component to bend, and meanwhile, the thumb head on the thumb mechanism uses external force to adjust the position needing to swing according to the bending degree of the holding mechanism and the size of an object to be grabbed so as to assist the holding mechanism to grab the object; the thumb can be self-locked at a plurality of positions, so that the device can assist in grabbing a plurality of objects; and the self-locking of the thumb can be unlocked and the thumb can swing back to the second limit position from the existing position due to the pressing of the pressing piece, so that the convenience of the hand is greatly improved. The multifunctional grasping hand can grasp various objects from screws, buttons and the like in small and medium-sized objects to cups, bowls and chopsticks, handles and the like in small and medium-sized objects, and has the advantages of simple structure and low manufacturing cost.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 shows a schematic overall construction of an embodiment of the invention;

fig. 2 shows a view of a palm configuration at hand of an embodiment of the invention;

fig. 3 shows a schematic view of a connector structure of an embodiment of the invention;

FIG. 4 shows a lower view of the connector of FIG. 3;

fig. 5 shows a structure view of a driving member and a driven member according to an embodiment of the present invention;

fig. 6 shows a press structure view of an embodiment of the present invention;

in the figure: the hand-held thumb-operated thumb drive comprises a palm shell 1, a drive assembly 2, a gripping mechanism 3, a thumb mechanism 4, a hollow cavity 11, an upper shell 12, a lower shell 13, a thumb head 40, a pressing piece 41, a connecting piece 5, a wire buckle 6, a sliding part 20, a tension spring fixing column 130, a boss 50, a first opening 51, a second opening 52, a cutting groove 30, a connecting shell 42, a transmission piece 43, a driven part 401, a guide inclined plane 410, an inclined slider 430 and a groove body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides an embodiment: a multifunctional grasping hand is arranged in an artificial limb socket and comprises a palm shell 1, a driving component 2, a grasping mechanism 3 and a thumb mechanism 4; one end of the palm shell 1 is provided with a connecting part, the other end of the palm shell is provided with a holding mechanism 3, the connecting part is used for being connected with an artificial limb receiving cavity, a hollow cavity 11 is further arranged in the palm shell 1, and the driving assembly 2 is arranged in the hollow cavity 11; the holding mechanism 3 is in driving connection with the driving component 2, and the driving component 2 can drive the holding mechanism 3 to bend and grab the object or stretch and put down the object;

the thumb mechanism 4 is arranged on the palm shell 1, the thumb mechanism 4 comprises a thumb head 40, the thumb head 40 is rotatably arranged on the palm shell 1 and is provided with a first limit position closest to the palm of the palm shell 1 and a second limit position farthest from the palm, the thumb head 40 can be self-locked at multiple positions in the process of swinging from the second limit position to the first limit position, the thumb mechanism 4 further comprises a pressing piece 41, and the pressing piece 41 can be pressed to enable the thumb head 40 to be released from self-locking and return to the second limit position from the position.

When in use, the connecting part of the multifunctional grasping hand is detachably arranged on the prosthetic socket, and the function of grasping objects by the hand is mainly realized by the bending of the grasping mechanism 3 and the swinging of the thumb mechanism 4. Wherein the holding mechanism 3 is mounted at one end of the palm shell 1 far away from the connecting part and driven by the driving component 2 to bend, and the thumb 40 on the thumb mechanism 4 uses external force to adjust the position needing to swing according to the bending degree of the holding mechanism 3 and the size of the object to be grabbed so as to assist the holding mechanism 3 to grab the object; the thumb head 40 can be self-locked at a plurality of positions, so that various objects can be grabbed in an auxiliary manner; and the self-locking of the thumb 40 can be unlocked and the thumb can swing back to the second limit position from the existing position by pressing the pressing piece 41, so that the convenience of the hand is greatly improved.

In order to facilitate the installation, the disassembly and the replacement of the driving component 2 and also facilitate the installation of the thumb mechanism 4, the palm shell 1 comprises an upper shell 12 and a lower shell 13, the upper shell 12 and the lower shell 13 are fixedly connected, a hollow cavity 11 is formed in the palm shell, and one end of the upper shell 12 is connected with one end, corresponding to the lower shell 13, to form a connecting part; the thumb mechanism 4 is mounted on the upper shell 12 and one end of the gripping mechanism 3 is mounted on the lower shell 13.

This multi-functional gripping hand still includes the line and detains 6, and drive assembly 2 still includes sliding part 20, first connecting wire and second connecting wire, and sliding part 20 is gliding to be set up in one side of inferior valve 13 in cavity 11, and first connecting wire one end is connected with the drive of mechanism 3 of gripping, and the other end is connected with sliding part 20, and second connecting wire one end is connected with sliding part 20, and the other end stretches out connecting portion and detains 6 connections with the line.

Wherein, one side of the lower shell 13 in the hollow cavity 11 is provided with a slide rail, and the sliding component 20 is slidably disposed on the slide rail. The slide member 20 slides along the slide rail from the end near the mounting holding mechanism 3 to the end near the connecting portion, and the holding mechanism 3 can be driven to bend by the first connecting line. The sliding of the sliding part 20 is driven by the second connecting wire, the end of the second connecting wire connected to the wire buckle 6 is located outside the connecting part, and the presence of the wire buckle 6 ensures that the second connecting wire does not retract into the connecting part.

In order to ensure that the sliding part 20 can automatically return to the end close to the holding mechanism 3 after sliding to the position close to the connecting part on the sliding rail, a spring for resetting the sliding part is additionally arranged at the hand, the multifunctional holding hand further comprises a tension spring, a tension spring fixing column 130 is further arranged at one side of the lower shell 13 in the hollow cavity 11, one end of the tension spring is connected with the tension spring fixing column 130, and the other end of the tension spring is connected with the sliding part 20; when the wire clasp is pulled, the tension spring is in a stretched state, so that the sliding part 20 has a sufficient force to return.

The multifunctional grasping hand further comprises a connecting piece 5, the connecting piece 5 is rotatably arranged in the connecting part, a first opening 51 is arranged at the center of the top of the connecting piece 5, a boss 50 is further arranged at the bottom of the connecting piece, a second opening 52 is arranged on one side of the boss 50, the first opening 51 is communicated with the second opening 52, and the wire buckle 6 is detachably connected with the connecting piece 5 at the second opening 52; wherein, the wire-pulling buckle 6 is far away from the connecting part, which can drive the sliding component 20 to be far away from the end provided with the holding mechanism, and further drive the bending of the holding mechanism 3 to grasp the object.

The connecting piece 5 can be rotatably arranged on the connecting part, so that the multifunctional grasping hand further increases the convenience of grasping objects. The prosthetic socket is provided with a mounting groove which is in sliding fit with the boss 50, and the connecting piece 5 is connected with the prosthetic socket through the boss 50. The artificial limb accepting cavity is further provided with a retaining ring a and a sliding groove for the retaining ring a to slide, the wire buckle 6 is embedded into the retaining ring a, the retaining ring a is pulled by a connecting wire in the artificial limb accepting cavity and can slide along the sliding groove, the wire buckle 6 is further driven to be away from the connecting part, and then the holding mechanism 3 is further driven to bend.

The holding mechanism 3 is a finger which is made of flexible material, the center and back of the finger are provided with a plurality of cutting grooves 30 at the same position, the cutting grooves 30 are arranged to divide the finger into a plurality of finger sections, one end of a first connecting line is fixedly connected with the finger tip, and the other end of the first connecting line passes through one side of the center of the finger and extends out from the tail end of the finger and is connected with the sliding part 20; when the wire button 6 is pulled, the fingers can only bend towards the palm center. The plurality of slots 30 on the finger core and the back of the finger ensure that the holding mechanism 3 can be smoothly bent by the driving of the first connecting line, and the first connecting line passes through one side of the finger core so as to ensure that the holding mechanism 3 can only be bent towards the palm under the driving of the first connecting line. The holding mechanism 3 is made of flexible materials, so that the holding mechanism can be driven to bend more conveniently, and meanwhile, the holding mechanism 3 has a self reverse acting force because of certain elasticity, and the holding mechanism is convenient to reset to the original shape.

The finger tips of the gripping mechanism 3 are provided with nail-shaped protrusions, and the center of the thumb head 40 faces the palm, so that the gripping mechanism 3 can be assisted to grab smaller objects.

The thumb mechanism 4 further comprises a connecting shell 42 and a transmission piece 43, the bottom of the thumb 40 is a driven part 401, the driven part 401 is rotatably arranged on the upper shell 12, the connecting shell 42 is fixedly connected with the upper shell 12, the pressing piece 41 is in driving connection with the transmission piece 43, and the transmission piece 43 is in driving connection with the driven part 401 in a ratchet structure and can be self-locked. In order to make the thumb mechanism 4 have a self-locking function, so that the thumb 40 can only swing from the second limit position to the first limit position under the action of external force, the present embodiment adopts a ratchet structure for self-locking, the ratchet tooth direction at the tail part of the driven part 401 is the same as the direction of the center of the thumb, and the ratchet tooth direction of the transmission member 43 is opposite to the direction of the teeth of the driven part 401. The driving connection part of the transmission member 43 and the driven part 401 is provided with a ratchet structure, the transmission member 43 is engaged with the driven part 401 in the ratchet structure, the transmission member 43 is rotatably installed on the connection shell 42, and the pressing member 41 can drive the transmission member 43 to rotate.

The connecting shell 42 is provided with an opening part for exposing the pressing piece 41, the pressing piece 41 is telescopically arranged in the opening part, one side of the opening part is provided with a notch, one side of the notch is a guide inclined plane 410, the transmission piece 43 is rotatably arranged on the connecting shell 42, and an inclined slide block 430 which is in sliding fit with the guide inclined plane 410 is arranged on the transmission piece. The inclined slider 430 slidably engaged with the guiding inclined plane 410 is driven to rotate by the telescopic movement of the guiding inclined plane 410, and further drives the swing of the thumb 40 at the first limit position and the second limit position.

In order to enable the thumb 40 to automatically swing from the first limit position to the second limit position after pressing the pressing piece 41 and to enable the self-locking structure to be established, and simultaneously, the pressing piece 41 can automatically return after pressing the pressing piece 41, the thumb mechanism 4 further comprises a first spring, a second spring and a third spring; a first spring fixing groove is formed on the upper shell 12, and a second spring fixing groove and a third spring fixing block are further formed on the connecting shell 42;

a first spring mounting groove is formed in the bottom of the pressing piece 41, one end of a first spring is embedded in the first spring mounting groove in the bottom of the pressing piece 41, and the other end of the first spring is connected with a first spring fixing groove of the upper shell 12; the transmission member 43 is further provided with a first boss, one end of the second spring is embedded with the first boss, and the other end of the second spring is connected with the second spring fixing groove; one side of the driven part 401 is provided with a second boss, one end of the third spring is buckled with the second boss, and the other end of the third spring is connected with the third spring fixing block.

The first spring is arranged to enable the pressing member 41 to have an automatic resetting function, and when the pressing member 41 is pressed to retract into the connecting shell 42, the first spring provides a resetting force to the pressing member 41 to enable the pressing member 41 to extend out of the connecting shell 42; in order to automatically lock the self-locking structure again after the pressing piece 41 is pressed to unlock the self-locking structure, a second spring is arranged between the transmission piece 43 and a second spring fixing groove, after the pressing piece 41 is pressed, the second spring is compressed by the swinging of the transmission piece 43, and when the external force applied to the pressing piece 41 disappears, the second spring gives the transmission piece 43 a force for resetting the transmission piece to reset the transmission piece; in order to automatically return the thumb 40 from the first limit position to the second limit position when grabbing objects with different sizes, a third spring is arranged between the driven part 401 and the third spring fixing block, when the thumb 40 swings towards the palm, the third spring is stretched, and after the self-locking structure is unlocked, the thumb 40 returns to the second limit position under the action of the third spring, and the position of the thumb 40 can be readjusted to assist the holding mechanism 3 in grabbing the objects.

The multifunctional grasping hand further comprises a clamping spring and a clamping block, the bottom of the boss 50 is also provided with a groove body 500, the clamping block is slidably arranged in the groove body 500, one end of the clamping block can be exposed out of the groove body 500, and the clamping spring is arranged between the groove bottom of the groove body 500 and the clamping block;

wherein, but boss 50 slidable detachable installs on the accepting cavity, and the position that corresponds the chucking piece on the prosthetic accepting cavity mounting groove can be equipped with a small recess, and chucking spring has a power that bulldozes the chucking piece all the time, makes chucking piece and recess cooperation form fastening structure, and the setting up of chucking spring and chucking piece lets the hand relatively more firm the installation on the accepting cavity when using.

The utility model discloses in the multi-functional hand each reset function not can only realize with the spring, can choose for use other elastomeric element to realize equally, mainly chooses first spring, second spring and third spring to realize the reset function of pressing piece 41, driving medium 43 and thumb 40 in this embodiment for use.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multifunctional grasping hand is arranged in an artificial limb socket and is characterized by comprising a palm shell (1), a driving component (2), a grasping mechanism (3) and a thumb mechanism (4);

one end of the palm shell (1) is provided with a connecting part, the other end of the palm shell is provided with a holding mechanism (3), the connecting part is used for being connected with an artificial limb receiving cavity, a hollow cavity (11) is further arranged in the palm shell (1), and the driving component (2) is arranged in the hollow cavity (11);

the holding mechanism (3) is in driving connection with the driving component (2), and the driving component (2) can drive the holding mechanism (3) to bend and grab the object or stretch and put down the object;

the thumb mechanism (4) is installed on the palm shell (1), the thumb mechanism (4) comprises a thumb head (40), the thumb head (40) is rotatably arranged on the palm shell (1) and is provided with a first limit position closest to the palm center of the palm shell (1) and a second limit position farthest from the palm center, the thumb head (40) can be self-locked at multiple positions in the process of swinging from the second limit position to the first limit position, the thumb mechanism (4) further comprises a pressing piece (41), and the thumb head (40) can be released from self-locking and returns to the second limit position from the position by pressing the pressing piece (41).

2. A multifunctional grasping hand according to claim 1, characterized in that the palm shell (1) comprises an upper shell (12) and a lower shell (13), the upper shell (12) and the lower shell (13) are fixedly connected, a hollow cavity (11) is formed therein, one end of the upper shell (12) is connected with the corresponding end of the lower shell (13) to form a connecting part; the thumb mechanism (4) is arranged on the upper shell (12), and one end of the holding mechanism (3) is arranged on the lower shell (13).

3. The multifunctional grasping hand according to claim 2, further comprising a wire buckle (6), wherein the driving assembly (2) further comprises a sliding member (20), a first connecting wire and a second connecting wire, the sliding member (20) is slidably disposed on one side of the lower shell (13) in the hollow cavity (11), one end of the first connecting wire is drivingly connected to the grasping mechanism (3), the other end of the first connecting wire is connected to the sliding member (20), one end of the second connecting wire is connected to the sliding member (20), and the other end of the second connecting wire extends out of the connecting portion and is connected to the wire buckle (6).

4. The multifunctional grasping hand according to claim 3, further comprising a tension spring, wherein a tension spring fixing column (130) is further disposed on one side of the lower casing (13) in the hollow cavity (11), one end of the tension spring is connected with the tension spring fixing column (130), and the other end of the tension spring is connected with the sliding component (20); when the wire buckle is pulled, the tension spring is in a stretched state.

5. The multifunctional grasping hand according to claim 3, further comprising a connecting member (5), wherein the connecting member (5) is rotatably disposed in the connecting portion, a first opening (51) is disposed at a center of a top of the connecting member (5), a boss (50) is further disposed at a bottom of the connecting member, a second opening (52) is disposed at one side of the boss (50), the first opening (51) and the second opening (52) are connected in a penetrating manner, and the wire buckle (6) and the connecting member (5) are detachably connected at the second opening (52);

the wire pulling buckle (6) is far away from the connecting part, the sliding component (20) can be driven to be far away from one end provided with the holding mechanism, and the holding mechanism (3) is further driven to bend to grab the object.

6. A multi-functional gripping hand according to claim 3, wherein the gripping means (3) is a finger, which is made of flexible material, the center and back of the finger are provided with a plurality of slots (30) at the same position, the slots (30) are arranged to divide the finger into a plurality of segments, the first connecting line has one end fixedly connected to the tip of the finger and the other end extending from the end of the finger through one side of the center of the finger and connected to the sliding member (20); when the wire button (6) is pulled, the fingers can only bend towards the palm center.

7. A multi-functional gripping hand according to claim 3, wherein the tip of the fingers of the gripping means (3) is provided with a nail-like protrusion, and the center of the thumb (40) faces the palm.

8. The multifunctional grasping hand according to claim 2, wherein the thumb mechanism (4) further comprises a connecting shell (42) and a transmission member (43), the bottom of the thumb (40) is a driven part (401), the driven part (401) is rotatably disposed on the upper shell (12), the connecting shell (42) is fixedly connected with the upper shell (12), the pressing member (41) is drivingly connected with the transmission member (43), and the transmission member (43) is drivingly connected with the driven part (401) in a ratchet structure and can be self-locked.

9. The multifunctional grasping hand according to claim 8, wherein the connecting shell (42) is provided with an opening for exposing the pressing member (41), the pressing member (41) is telescopically arranged in the opening, a notch is arranged on one side of the opening, a guiding inclined plane (410) is arranged on one side of the notch, the transmission member (43) is rotatably arranged on the connecting shell (42), and an inclined slide block (430) which is in sliding fit with the guiding inclined plane (410) is arranged on the transmission member.

10. The multifunctional grasping hand according to claim 5, further comprising a clamping spring and a clamping block, wherein the bottom of the boss (50) is further provided with a groove body (500), the clamping block is slidably disposed in the groove body (500), one end of the clamping block can be exposed out of the groove body (500), and the clamping spring is disposed between the groove bottom of the groove body (500) and the clamping block.