CN212794942U - Bionic hand device - Google Patents
Bionic hand device Download PDFInfo
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- CN212794942U CN212794942U CN202021364385.7U CN202021364385U CN212794942U CN 212794942 U CN212794942 U CN 212794942U CN 202021364385 U CN202021364385 U CN 202021364385U CN 212794942 U CN212794942 U CN 212794942U
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Abstract
The utility model discloses a bionic hand device, which comprises a palm shell, a thumb part and four finger parts; each finger part comprises a first driving mechanism and a finger mechanism, and the first driving mechanism is connected with the corresponding finger mechanism through a first transmission mechanism; each first driving mechanism is arranged on the palm shell, and an included angle of 3-5 degrees is formed between every two adjacent first driving mechanisms; the thumb component comprises a second driving mechanism and a thumb mechanism, and the second driving mechanism is connected with the thumb mechanism through a second transmission mechanism. The utility model provides a bionic hand device can improve the degree of similarity of bionic hand when holding tightly and expanding with the real people hand, improves the comfort level of user's use and the accuracy of during operation.
Description
Technical Field
The utility model belongs to the technical field of the bionic hand, especially, relate to a bionic hand device.
Background
As a main means for solving the problem of self-care of life after amputation of patients, the bionic hand is still a new and popular product, the types of the products on the market are different, and the industry has no clear requirements and standards for the products.
The existing bionic hand product has rich design concept, the flexible mechanism and the rigid mechanism are visible everywhere in the market, and the advantages and the disadvantages are obvious; the service life of the flexible mechanism is limited, and the abrasion problem of the driving rope is the first difficult problem of developing and developing the market of the products; the bionic hand using the rigid connecting rod as the movement mechanism has the problems of large mass, insensitive movement delay, poor user experience, inconvenience and the like, and is also limited in popularization of the product in the market.
In addition, the four fingers of the existing bionic hand product except the thumb are usually designed in parallel, and the corresponding work cannot be well finished when the bionic hand product is straightened and bent; if the four fingers are clenched, a larger gap is formed, and the four fingers cannot be unfolded like a real hand when being opened.
In view of the above, there is a need to design a new bionic hand device structure to overcome at least some of the above-mentioned disadvantages of the existing bionic hand device structure.
SUMMERY OF THE UTILITY MODEL
The utility model provides a bionic hand device can improve the degree of similarity of bionic hand when holding tightly and expanding with the real people hand, improves the comfort level of user's use and the accuracy of during operation.
For solving the technical problem, according to the utility model discloses an aspect adopts following technical scheme:
a bionic hand device, comprising: a palm housing, a thumb component and four finger components;
each finger part comprises a first driving mechanism and a finger mechanism, and the first driving mechanism is connected with the corresponding finger mechanism through a first transmission mechanism; each first driving mechanism is arranged on the palm shell, and an included angle of 3-5 degrees is formed between every two adjacent first driving mechanisms;
the thumb component comprises a second driving mechanism and a thumb mechanism, and the second driving mechanism is connected with the thumb mechanism through a second transmission mechanism.
As an embodiment of the present invention, a 4 ° included angle is formed between adjacent first driving mechanisms.
As an embodiment of the present invention, the included angle formed between the adjacent first driving mechanisms refers to the included angle formed by the driving directions of the adjacent first driving mechanisms.
As an embodiment of the present invention, the first driving mechanism is a driving motor.
As an embodiment of the present invention, the included angle formed between the adjacent first driving mechanisms is an included angle formed by the driving shafts of the driving motors.
As an embodiment of the present invention, the four finger members include four first driving mechanisms, and the four first driving mechanisms are respectively a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are sequentially arranged;
the four first driving mechanisms are respectively provided with a driving shaft, and the centers of the four driving shafts are respectively a first driving shaft center, a second driving shaft center, a third driving shaft center and a fourth driving shaft center;
the intersection points of the first driving shaft center, the second driving shaft center, the third driving shaft center and the fourth driving shaft center on the first plane are respectively a point A, a point B, a point C and a point D;
the first plane is perpendicular to the first straight line and passes through the first driving mechanism; the first straight line is an average line of an included angle formed by the center of the second driving shaft and the center of the third driving shaft;
an included angle formed by a straight line L1 where the connecting line of the point A and the point B is positioned and a straight line L2 where the connecting line of the point B and the point C is positioned is 4-6 degrees; the included angle formed by a straight line L2 on which the connecting line of the points B and C is positioned and a straight line L3 on which the connecting line of the points C and D is positioned is 4-6 degrees.
As an embodiment of the present invention, an included angle formed by a straight line L1 where the connection line between the point a and the point B is located and a straight line L2 where the connection line between the point B and the point C is located is 5 °; the straight line L2 connecting the points B and C forms an angle of 5 DEG with the straight line L3 connecting the points C and D.
As an embodiment of the present invention, the first plane is a plane perpendicular to the first straight line and passing through the first end of the first driving mechanism or being close to the position of the first end, and the first end of the first driving mechanism refers to the end of the first driving mechanism far away from the finger mechanism.
The beneficial effects of the utility model reside in that: the utility model provides a bionic hand device can improve the degree of similarity of bionic hand when holding tightly and expanding with the real people hand, improves the comfort level of user's use and the accuracy of during operation.
Drawings
Fig. 1 is a schematic structural diagram of a bionic hand device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a bionic hand device according to an embodiment of the present invention.
Fig. 3 is a cross-sectional view along AA of fig. 1.
Fig. 4 is a schematic structural diagram (four-finger deployed posture) of the bionic hand device according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram (four-finger gripping posture) of the bionic hand device according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For further understanding of the present invention, preferred embodiments of the present invention will be described below with reference to examples, but it should be understood that these descriptions are only for the purpose of further illustrating the features and advantages of the present invention, and are not intended to limit the claims of the present invention.
The description in this section is for exemplary embodiments only, and the present invention is not limited to the scope of the embodiments described. The same or similar prior art means and some technical features of the embodiments are mutually replaced and are also within the scope of the description and the protection of the invention.
The term "connected" in the specification includes both direct connection and indirect connection.
The utility model discloses a bionic hand device, and fig. 1 to 5 are schematic structural diagrams of the bionic hand device in an embodiment of the utility model; referring to fig. 1 to 5, the bionic hand device includes a palm housing 1, a thumb part 2 and four finger parts 3. Each finger part 3 comprises a first driving mechanism 31 and a finger mechanism 32, wherein the first driving mechanism 31 is connected with the corresponding finger mechanism 32 through a first transmission mechanism 33; each first driving mechanism 31 is arranged on the palm shell 1, and an included angle of 3-5 degrees is formed between every two adjacent first driving mechanisms 31. In an embodiment of the present invention, an included angle of 4 ° is formed between adjacent first driving mechanisms 31. The thumb part 2 comprises a second driving mechanism 21 and a thumb mechanism 22, and the second driving mechanism 21 is connected with the thumb mechanism 22 through a second transmission mechanism 23.
In an embodiment of the present invention, the included angle formed between adjacent first driving mechanisms 31 refers to an included angle formed by driving directions of adjacent first driving mechanisms 31. Alternatively, the first driving mechanism 31 is a driving motor. The included angle formed between adjacent first driving mechanisms 31 is an included angle formed by the driving shafts of the driving motors.
In an embodiment of the present invention, the four finger members include four first driving mechanisms, which are a first driving mechanism 311, a second driving mechanism 312, a third driving mechanism 313, and a fourth driving mechanism 314 sequentially disposed respectively.
The four first driving mechanisms are respectively provided with a driving shaft, and the centers of the four driving shafts are respectively a first driving shaft center, a second driving shaft center, a third driving shaft center and a fourth driving shaft center.
The intersection points of the first driving shaft center, the second driving shaft center, the third driving shaft center and the fourth driving shaft center on the first plane are respectively a point A, a point B, a point C and a point D.
The first plane is perpendicular to the first straight line and passes through the first driving mechanism; the first straight line is an average line of an included angle formed by the center of the second driving shaft and the center of the third driving shaft.
An included angle formed by a straight line L1 where the connecting line of the point A and the point B is positioned and a straight line L2 where the connecting line of the point B and the point C is positioned is 4-6 degrees; the included angle formed by a straight line L2 on which the connecting line of the points B and C is positioned and a straight line L3 on which the connecting line of the points C and D is positioned is 4-6 degrees.
In one embodiment, an included angle formed by a straight line L1 connecting the points a and B and a straight line L2 connecting the points B and C is 5 °; the straight line L2 connecting the points B and C forms an angle of 5 DEG with the straight line L3 connecting the points C and D.
In an embodiment, the first plane is a plane perpendicular to the first straight line and passing through the first end of the first driving mechanism or a position close to the first end, and the first end of the first driving mechanism refers to an end of the first driving mechanism far away from the finger mechanism (of course, the middle part, or the second end, or other set areas of the first driving mechanism may also be used).
To sum up, the utility model provides a bionic hand device can improve the degree of similarity of bionic hand when holding tightly and launching with real people's hand, improves the comfort level and the during operation accuracy that the user used.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the present invention are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be reflected in the embodiments due to interference of various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the present invention.
Claims (8)
1. A bionic hand device, comprising: a palm housing, a thumb component and four finger components;
each finger part comprises a first driving mechanism and a finger mechanism, and the first driving mechanism is connected with the corresponding finger mechanism through a first transmission mechanism; each first driving mechanism is arranged on the palm shell, and an included angle of 3-5 degrees is formed between every two adjacent first driving mechanisms;
the thumb component comprises a second driving mechanism and a thumb mechanism, and the second driving mechanism is connected with the thumb mechanism through a second transmission mechanism.
2. The bionic hand device according to claim 1, wherein:
an included angle of 4 degrees is formed between the adjacent first driving mechanisms.
3. The bionic hand device according to claim 1, wherein:
the included angle formed between the adjacent first driving mechanisms refers to the included angle formed by the driving directions of the adjacent first driving mechanisms.
4. The bionic hand device according to claim 1, wherein:
the first driving mechanism is a driving motor.
5. The bionic hand device according to claim 4, wherein:
the included angle formed between the adjacent first driving mechanisms refers to the included angle formed by the driving shafts of the driving motors.
6. The bionic hand device according to claim 1, wherein:
the four finger parts comprise four first driving mechanisms which are respectively a first driving mechanism, a first second driving mechanism, a first third driving mechanism and a first fourth driving mechanism which are sequentially arranged;
the four first driving mechanisms are respectively provided with a driving shaft, and the centers of the four driving shafts are respectively a first driving shaft center, a second driving shaft center, a third driving shaft center and a fourth driving shaft center;
the intersection points of the first driving shaft center, the second driving shaft center, the third driving shaft center and the fourth driving shaft center on the first plane are respectively a point A, a point B, a point C and a point D;
the first plane is perpendicular to the first straight line and passes through the first driving mechanism; the first straight line is an average line of an included angle formed by the center of the second driving shaft and the center of the third driving shaft;
an included angle formed by a straight line L1 where the connecting line of the point A and the point B is positioned and a straight line L2 where the connecting line of the point B and the point C is positioned is 4-6 degrees; the included angle formed by a straight line L2 on which the connecting line of the points B and C is positioned and a straight line L3 on which the connecting line of the points C and D is positioned is 4-6 degrees.
7. The bionic hand device according to claim 6, wherein:
an included angle formed by a straight line L1 where the connecting line of the point A and the point B is positioned and a straight line L2 where the connecting line of the point B and the point C is positioned is 5 degrees; the straight line L2 connecting the points B and C forms an angle of 5 DEG with the straight line L3 connecting the points C and D.
8. The bionic hand device according to claim 6, wherein:
the first plane is perpendicular to the first straight line and passes through the first end of the first driving mechanism or a position close to the first end, and the first end of the first driving mechanism refers to the end, far away from the finger mechanism, of the first driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021364385.7U CN212794942U (en) | 2020-07-13 | 2020-07-13 | Bionic hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021364385.7U CN212794942U (en) | 2020-07-13 | 2020-07-13 | Bionic hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212794942U true CN212794942U (en) | 2021-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021364385.7U Active CN212794942U (en) | 2020-07-13 | 2020-07-13 | Bionic hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212794942U (en) |
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2020
- 2020-07-13 CN CN202021364385.7U patent/CN212794942U/en active Active
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