CN213647550U

CN213647550U - Bionic hand device

Info

Publication number: CN213647550U
Application number: CN202021365498.9U
Authority: CN
Inventors: 沈彪; 倪华良
Original assignee: Xiamen Pride Mdt Infotech Ltd
Current assignee: Xiamen Pride Mdt Infotech Ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2021-07-09
Anticipated expiration: 2030-07-13

Abstract

The utility model discloses a bionic hand device, bionic hand device includes: the palm device comprises a first base, a second base, a palm shell, a thumb component and four finger components; each finger part comprises a first driving mechanism and a finger mechanism, the first driving mechanism is connected with the corresponding finger mechanism through a first transmission mechanism, and each first driving mechanism is arranged on the palm shell and fixed on the first base; 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 second driving mechanism is fixed on the second base and can rotate along a set rotating shaft at a set rotating plane for a set angle along the second base; the angle formed by the rotating shaft and the reference plane is 75-80 degrees. The bionic hand device provided by the utility model can complete various gesture actions, including fist-holding action, thumb side-pinching action and three-finger pinching action; the effect of imitating the fingers of a real person is improved.

Description

Bionic hand device

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 which can complete various gesture actions, including a fist-holding action, a thumb side-pinching action and a three-finger pinching action; the effect of imitating the fingers of a real person is improved.

For solving the technical problem, according to the utility model discloses an aspect adopts following technical scheme:

a bionic hand device, comprising: the palm device comprises a first base, a second base, a palm shell, a thumb component and four finger components;

each finger part comprises a first driving mechanism and a finger mechanism, the first driving mechanism is connected with the corresponding finger mechanism through a first transmission mechanism, and each first driving mechanism is arranged on the palm shell and fixed on the first base;

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 second driving mechanism is fixed on the second base and can rotate along a set rotating shaft at a set rotating plane for a set angle along the second base; the angle formed by the rotating shaft and the reference plane is 75-80 degrees.

As an embodiment of the present invention, the four finger members include four first driving mechanisms, which are respectively a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism, which are sequentially arranged;

the reference plane is a plane perpendicular to the first straight line, or an included angle formed by the reference plane and the first straight line is smaller than or equal to a set threshold value; the first straight line is a straight line on which an average line of an included angle formed by a straight line on which the centers of the driving shafts of the first and second driving mechanisms are located and a straight line on which the centers of the driving shafts of the first and third driving mechanisms are located.

As an embodiment of the present invention, the reference plane is a plane where the connection surface of the first base and each of the first driving mechanisms is located.

As an embodiment of the present invention, the reference plane is a plane perpendicular to the direction of the palm shell.

As an embodiment of the present invention, the reference plane is a plane perpendicular to the first straight line; the first straight line is a straight line where the two first driving mechanisms in the middle of the palm shell form an average line of an included angle.

As an embodiment of the present invention, the angle between the rotation axis and the reference plane is 77 °.

As an embodiment of the present invention, the reference plane is a plane perpendicular to the center of gravity of the bionic hand device.

According to another aspect of the utility model, adopt following technical scheme: a biomimetic hand device comprising a palm housing, a thumb member and a second finger member, the thumb member and the second finger member being connected to the palm housing, respectively;

the root of the thumb part can rotate along a set rotating shaft, and the angle formed by the rotating shaft and the reference plane is 75-80 degrees.

As an embodiment of the present invention, the reference plane is a plane perpendicular to the direction of the palm housing, or the reference plane is a plane perpendicular to the center of gravity of the bionic hand device.

The beneficial effects of the utility model reside in that: the bionic hand device provided by the utility model can complete various gesture actions, including fist-holding action, thumb side-pinching action and three-finger pinching action; the effect of imitating the fingers of a real person is improved.

The included angle between the rotating shaft of the original rotating part and the plane is 90 degrees, and the thumb can only contact the rear end of the forefinger when the thumb is laterally pinched. Under a use scene, the utility model discloses thumb root rotating member axle is 77 with planar contained angle, and the thumb side is held between the fingers the action and can be contacted forefinger front end, can accomplish real bionical action.

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 schematic diagram illustrating an included angle formed between the rotation axis and the reference plane according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a base of a thumb part according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a thumb component according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a thumb component according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a finger member according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a driving mechanism 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 and 2 are schematic structural diagrams of the bionic hand device in an embodiment of the utility model; referring to fig. 1 and 2, the bionic hand device includes: a first base 4, a second base 5, a palm housing 1, a thumb component 2 and four finger components 3. Each finger member 3 includes a first driving mechanism 31 and a finger mechanism 32, the first driving mechanism 31 is connected to the corresponding finger mechanism 32 through a first transmission mechanism 33, and each first driving mechanism 31 is disposed in the palm housing 1 and fixed to the first base 4.

The thumb component 2 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 second driving mechanism is fixed on the second base 5 and can rotate along a set rotating shaft at a set rotating plane along the second base 5 by a set angle; the angle formed by the rotating shaft and the reference plane is 75-80 degrees. In one embodiment, the axis of rotation is at an angle of 77 ° to the reference plane (as shown in FIG. 3).

In an embodiment of the present invention, the four finger members 3 include four first driving mechanisms, which are a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism, which are sequentially arranged. In an embodiment, the reference plane is a plane perpendicular to the first straight line, or an included angle formed between the reference plane and the first straight line is less than or equal to a set threshold (that is, there may be a certain deviation from the first straight line, and the size of the threshold may be set according to specific needs, for example, it may be 5 °, 10 °, and so on); the first straight line is a straight line on which an average line of an included angle formed by a straight line on which the centers of the driving shafts of the first and second driving mechanisms are located and a straight line on which the centers of the driving shafts of the first and third driving mechanisms are located.

In an embodiment, the reference plane is a plane where a connection surface of the first base and each of the first driving mechanisms is located. In another embodiment, the reference plane is a plane perpendicular to the direction in which the palm casing runs. In a further embodiment, the reference plane is a plane perpendicular to the centre of gravity of the bionic hand device.

In another embodiment of the present invention, as shown in fig. 1 and fig. 2, the bionic hand device includes a palm shell 1, a thumb component 2 and a second finger component (the second finger component may be an integral body, or may include a plurality of finger components, such as four finger components 3), and the thumb component 2 and the second finger component are respectively connected to the palm shell; the root of the thumb part 2 can rotate along a set rotating shaft, and the angle formed by the rotating shaft and the reference plane is 75-80 degrees. Or, the thumb part 2 is arranged through the second base 5, and the angle formed by the plane of the second base 5 and the reference plane is 10-15 degrees.

Fig. 4 is a schematic structural view of a thumb root rotating mechanism in an embodiment of the present invention; referring to fig. 4, the thumb is provided with a thumb root rotating mechanism, and the thumb root rotating mechanism includes: a support 222 and a rotating member 221, wherein the rotating member 221 is rotatably fixed by the support 222.

The rotating member 221 has a plurality of first grooves 2211, and the supporting member 222 has a plurality of second grooves (not shown); each first groove 2211 corresponds to the distribution and position of the corresponding second groove; when the first recess 2211 is aligned with the corresponding second recess, a clamping space can be formed.

As shown in fig. 4, the supporting member 222 includes a base 2221 and a locking piece 2222, and the rotating member is disposed through the base 2221 and can rotate along a set rotating shaft 2223 under the support of the base 2221; the locking piece 2222 is disposed above the rotating member 221, and the locking piece 2222 is fixed to the rotating member 221 by a plurality of screws 2224. The position-locking piece 2222 is provided with the second groove.

Each first recess 2211 is provided with an elastic card body 223, and when the rotating body 221 is under the action of a set rotating force, the rotating body 221 rotates along the set rotating shaft 2223, and the elastic card body 223 can leave the position of the. In one embodiment, the elastic clamping body 223 is a spring ball. The elastic card body 3 can be positioned by using a clamping space (because the elastic card body 223 is arranged in the first groove 2211, the limitation is mainly realized by using the second groove), and can swing to get away from the limitation of the clamping space under the action of rotating force; since the elastic card body 223 is disposed in the first recess 2211, it is mainly limited to get rid of the second recess.

In an embodiment of the present invention, the thumb root rotating mechanism further includes a driving mechanism; the driving mechanism is fixed through the supporting piece, and the output end of the driving mechanism is connected with the rotating piece and can drive the rotating piece to set the rotating shaft to rotate. The drive mechanism may be a rotary drive motor.

As shown in fig. 1, in an embodiment of the present invention, the rotating member 221 is provided with eight first grooves 2211, the eight first grooves 2211 are divided into four groups, and each group of two first grooves 2211 are disposed close to each other; the center points of the eight first recesses 2211 are located on four sides of a square (or other regular polygons, there are several positions in a regular polygon, for example, there are four positions in a square), and four vertices of the square are respectively provided with one first recess 2211.

Fig. 5 and 6 are schematic structural views of a thumb part according to an embodiment of the present invention; referring to fig. 5 and 6, the thumb part includes: the device comprises a shell 201, a finger end 202, a rotating mechanism 203, a driving mechanism 204, a transmission mechanism 205 and a limiting mechanism 206. In one embodiment, the housing 201 may be disposed through a base 208.

The finger tip 202 is fixed to the housing 201 through the rotating mechanism 203, and the driving mechanism 204 and the transmission mechanism 205 are located in the housing 201. The transmission mechanism 205 comprises a gear set 2051, a screw rod 2052 and a slider 2053, wherein a first end of the screw rod 2052 is connected with the driving end of the finger end 202, and the screw rod 2052 is further connected with the gear set 2051; the slide block 2053 is nested in the screw rod 2052, and when the screw rod 2052 rotates in a set direction, the slide block 2053 can move upwards or downwards.

The output end of the driving mechanism 204 is connected with a gear set 2051, and the driving mechanism 204 can drive the screw rod 2052 to rotate along a set direction through the gear set 2051, so as to drive the slide block 2053 to move along the set direction.

The limiting mechanism 206 comprises at least two connecting rods, at least a first connecting rod 2061 and a second connecting rod 2062; a first end of the first link 2061 is connected to the finger end 202, a second end of the first link 2061 is connected to a first end of the second link 2062, and a second end of the second link 2062 is fixed by the housing 201.

In an embodiment of the present invention, the limiting mechanism includes three connecting rods, which are a first connecting rod 2061, a second connecting rod 2062 and a third connecting rod 2063; the second end of the second link 2062 is connected to the first end of the third link 2063, and the second end of the third link 2063 is fixed by the housing 201.

In an embodiment of the present invention, the thumb part further includes a first axis pin 2071, a second axis pin 2072, a third axis pin 2073 and a fourth axis pin 2074. The finger 202 is connected to the casing 201 through a first pivot pin 2071, and the finger 202 can rotate relative to the casing 201 with the first pivot pin 2071 as a rotation axis. The first end of the first link 2061 is connected to the finger end 202 by a second axis pin 2072 such that the first link 2071 is rotatable relative to the finger end 202 along the second axis pin 2062. The first link 2061 and the second link 2062 are connected by a third shaft pin 2073, so that the first link 2061 and the second link 2062 can rotate relatively. The second end of the third link 2063 is connected to the housing 201 by a fourth shaft pin 2074, so that the third link 2063 can rotate about the fourth shaft pin 2074 by a set angle with respect to the housing 201.

Fig. 7 is a schematic structural diagram of a finger member according to an embodiment of the present invention; referring to fig. 7, the finger part includes: a first finger section 301, a second finger section 302, a first link 303, a second link 304, a third link 305, a base 306 and a driving mechanism 307. The first finger section 301 is connected with the second finger section 302 through the rotary connecting mechanism 308, and the rotary connecting mechanism 308 is provided with an elastic resetting mechanism 3081, so that the first finger section 301 and the second finger section 302 can keep a set posture when no external force exists.

A first end of the first link 303 is connected with the first finger section 301, and a second end of the first link 303 is connected with the base 306; the finger second section 302 is provided with a slot 3021, and a first end (which may be provided with two buckles 3041) of the second link 304 is provided through the slot 3021 and can move in the slot 3021. The second end of the second link 304 is connected with the first end of the third link 305, and the second end of the third link 305 is connected with the driving mechanism 307; the driving mechanism 307 can drive the third link 305 to move.

In an embodiment of the present invention, the first section 301 of the finger may include two sections of the finger, and the two sections of the finger are slightly bent and relatively fixed; the inner side of the first segment 301 of the finger may be a rubber material. Of course, the first finger segment 301 may be designed as two separate segments as desired.

In one embodiment, the drive mechanism 307 comprises a linear motor; the slot 3021 may be arc-shaped, and the elastic restoring mechanism 3081 may be a spring.

Fig. 8 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention; referring to fig. 8 in combination with fig. 7, in an embodiment of the present invention, the driving mechanism 307 includes a motor 3071 (which may be disposed in a motor box 3070), a gear set 3072, a lead screw 3073, and a lead screw nut 3074; the output end of the motor 3071 is connected with a screw rod 3073 through a gear set 3072 and can drive the screw rod 3073 to rotate; the lead screw nut 3074 is connected with the lead screw 3073, and the lead screw nut 3074 can be driven to move axially (in the direction of a lead screw rotating shaft) in the rotating process of the lead screw 3073, so that the telescopic action of the driving mechanism 307 is realized, and further, the fingers can be driven to bend or straighten.

In an embodiment, the gear set 3072 includes a first gear 30721 and a second gear 30722, an output shaft of the motor 3071 is connected to the first gear 30721, the first gear 30721 is engaged with the second gear 30722, the lead screw 3073 and the second gear 30722 are fixedly disposed, and a rotation shaft of the second gear 30722 is on the same straight line with a rotation shaft of the lead screw 3073. The motor case 3070 is provided with a motor case housing 30701 and a motor case cover 30702, and the lead screw nut 3074 is arranged through the motor case 3070 and limited by the cap body 3075, so that the lead screw nut 3074 cannot rotate and can only linearly stretch out and draw back.

In summary, the bionic hand device provided by the utility model can complete various gesture actions, including fist-holding action, thumb side-pinching action and three-finger pinching action; the effect of imitating the fingers of a real person is improved.

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

1. A bionic hand device, comprising: the palm device comprises a first base, a second base, a palm shell, a thumb component and four finger components;

2. 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 reference plane is a plane perpendicular to the first straight line, or an included angle formed by the reference plane and the first straight line is smaller than or equal to a set threshold value; the first straight line is an average line of an included angle formed by a straight line where the centers of the driving shafts of the first and second driving mechanisms are located and a straight line where the centers of the driving shafts of the first and third driving mechanisms are located.

3. The bionic hand device according to claim 1, wherein:

the reference plane is a plane where the connection surfaces of the first base and the first driving mechanisms are located.

4. The bionic hand device according to claim 1, wherein:

the reference plane is a plane perpendicular to the direction of the palm shell.

5. The bionic hand device according to claim 1, wherein:

the reference plane is a plane perpendicular to the first straight line; the first straight line is a straight line where the two first driving mechanisms in the middle of the palm shell form an average line of an included angle.

6. The bionic hand device according to claim 1, wherein:

the axis of rotation is at an angle of 77 deg. to the reference plane.

7. The bionic hand device according to claim 1, wherein:

the reference plane is a plane perpendicular to the center of gravity of the bionic hand device.

8. A biomimetic hand device, comprising a palm housing, a thumb member and a second finger member, the thumb member and the second finger member being connected to the palm housing, respectively;

9. The bionic hand device according to claim 8, wherein:

the datum plane is a plane perpendicular to the trend of the palm shell, or the datum plane is a plane perpendicular to the gravity center of the bionic hand device.