CN219504786U - Multi-degree-of-freedom bionic hand with locking function - Google Patents

Abstract

The utility model discloses a multi-degree-of-freedom bionic hand with a locking function, which is used in the field of development of bionic hands and comprises a palm, fingers movably connected with the palm through a fixed shaft, a driving shaft for driving five fingers to act and a limiting shaft arranged on a finger root at the joint of the back of the palm and the fingers, wherein a locking unit is movably arranged at the joint of the palm and the finger root, the driving shaft comprises a first driving shaft arranged in the palm and a second driving shaft arranged at the finger root for driving four fingers, a main driving wire connected with a power device bypasses the second driving shaft to be connected with the first driving shaft, and the second driving shaft drives the fingers to rotate along the fixed shaft so as to drive the five fingers to act; the utility model has the advantages that only one driving device can realize the control of the whole bionic hand, the weight is light, the hand is as flexible as a human hand, the multiple functions of the human hand can be realized, the independent operation of the fingers can be realized, and the coordinated actions of the thumb and the index finger and the coordinated actions of the five fingers after unlocking can be realized under the self-locking state of the middle finger, the ring finger and the little finger.

Description

Multi-degree-of-freedom bionic hand with locking function

Technical Field

The utility model relates to the field of development of bionic hands, in particular to a multi-degree-of-freedom bionic hand with a locking function.

Background

In recent years, more and more researches on bionic hands are carried out, and remarkable effects are achieved, wherein each bionic hand generally has 2-5 fingers, and the joint numbers of the fingers are different. The finger driving mode is divided into full driving and underdriving, the full driving is that the driving number is equal to the joint number, each joint corresponds to one driving device, the more the driving devices are, the larger the bionic hand volume and the weight are, the control difficulty is increased, and the failure rate is high. Underactuation is the number of actuation devices that is less than the number of joints, and one actuation device can actuate more than two joints. And thus underactuated drive approaches are more popular.

When a human hand moves, each finger has multiple degrees of freedom and can move independently, and most bionic fingers have only one degree of freedom, so that the movement of the bionic fingers is not flexible enough, and most functions cannot be realized.

The utility model patent application of application publication number CN10528815A discloses a multi-degree-of-freedom underactuated manipulator, which has few driving elements and more degrees of freedom, but can only grasp five fingers at the same time, has no locking function of the fingers and internal and external swinging of the thumb, cannot control the coordinated action of one finger or two fingers independently, and has the flexibility of the action process to be improved.

Disclosure of Invention

The utility model aims to solve the technical problem of providing the multi-degree-of-freedom bionic hand with the locking function, which has the advantages of multiple degrees of freedom of fingers, high flexibility, smooth realization of independent actions of the thumb and the index finger in a three-finger self-locking state besides the five-finger gripping function, coordinated actions of the thumb and the index finger, good flexibility in the action process and high self-adaptability.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model comprises a palm, fingers movably connected with the palm through a fixed shaft, a driving shaft for driving five fingers to act and a limiting shaft arranged on a finger root at the joint of the back of the palm and the fingers, wherein a locking unit is movably arranged at the joint of the palm and the finger root, the driving shaft comprises a first driving shaft arranged in the palm and a second driving shaft arranged at the finger root for driving four fingers, a main driving wire connected with a power device bypasses the second driving shaft to be connected with the first driving shaft, and the second driving shaft drives the fingers to rotate along the fixed shaft to drive the five fingers to act.

Further, the second driving shaft is arranged on the index finger and connected with the root of the middle finger, an arc track for the second driving shaft to move is arranged on the middle finger, a three-finger synchronous shaft is arranged at the joint of the middle finger, the ring finger and the little finger, the locking unit comprises a hook arranged on the root of the ring finger and a bayonet lock corresponding to the hook, and the bayonet lock is movably arranged in a bayonet lock slideway at the joint of the palm and the root of the three-finger synchronous shaft.

Further, the clamping pin is provided with an operation end and a clamping groove corresponding to the hook, a return spring is arranged at the joint of the operation end and the palm, and the clamping pin corresponding to the clamping groove is provided with a limiting block fixed with the clamping pin through a positioning wire.

Further, the driving shaft further comprises a four-finger driving shaft arranged at the joint of the back of the palm and the root parts of the index finger, the middle finger, the ring finger and the little finger and a fixing shaft arranged at the root part of the index finger, the ring finger and the little finger are respectively provided with a far knuckle driving wire, one end of the far knuckle driving wire is fixed with the four-finger driving shaft, the other end of the far knuckle driving wire is sequentially fixed with a pressing block in the far knuckle through wire passing holes formed in the near knuckle and the far knuckle, the fixing shaft is fixed with one end of the thumb far knuckle driving wire arranged in the thumb, and the other end of the fixing shaft is sequentially fixed with the pressing block in the thumb far knuckle through wire passing holes formed in the near knuckle and the thumb far knuckle.

Further, the pressing block is fixed with a buffer spring arranged in the distal knuckle through a fixing wire, and the other end of the buffer spring is clamped in a counter bore of the distal knuckle.

Further, a fulcrum for positioning and swinging the thumb and a supporting groove corresponding to the fulcrum are arranged at the joint of the thumb near knuckle and the palm.

Further, an upper fixing rod is arranged in the thumb near knuckle, a lower fixing rod is arranged in the palm corresponding to the upper fixing rod, and a positioning tension spring is arranged between the upper fixing rod and the lower fixing rod.

Further, the limiting shaft comprises a three-finger limiting shaft and an index finger limiting shaft, wherein the three-finger limiting shaft is arranged on the finger root at the joint of the middle finger, the ring finger and the little finger and the palm below the three-finger synchronizing shaft, and the index finger limiting shaft is arranged on the finger root at the joint of the index finger and the palm.

Further, the fingers are provided with a proximal knuckle connected with the palm and a distal knuckle connected with the proximal knuckle through a reset spring, and two ends of the reset spring are connected through reset fixing wires.

Further, the reset springs are symmetrically arranged on two sides of the movable joint, and the movable joint is arranged at the matched and connected position of the root part of the far knuckle and the near knuckle.

Due to the adoption of the technical scheme, the beneficial effects obtained by the utility model are as follows:

the utility model has reasonable structure and novel design, only one driving device can realize the control of the whole bionic hand, has light weight, is flexible and convenient like a human hand, can realize multiple functions of the human hand, namely the grasping of five fingers, the bending or straightening of the five fingers, and can also realize the independent operation of the thumb or the index finger, such as the outward swing and inward swing of the thumb, the single pointing of the index finger, the opposite finger and side pinching of the thumb and the index finger, the coordinated action of the thumb and the index finger under the self-locking state of the middle finger, the ring finger and the little finger, and the coordinated action of the five fingers after unlocking.

The buffer spring is arranged to enable the grabbing process to have buffer force and holding force, so that the flexible grabbing of fingers is facilitated, the object to be grabbed can be firmly grabbed and stable without sliding off, the phenomenon that the object to be grabbed is crushed or pinched due to excessive force is effectively avoided, and the self-adaptability is greatly improved.

The thumb swing mechanism is provided with the positioning tension spring, so that the thumb is attractive and natural like a human hand in a relaxed state when the thumb swings outwards, the thumb is connected with the palm in a shaftless manner and cannot fall off, the lateral pinching of fingers is realized, small article objects such as card receiving and playing card clamping in the living process are flexibly realized, and the actions such as book receiving and book clamping can be flexibly realized.

Drawings

FIG. 1 is a schematic diagram of the front view of a bionic hand according to the present utility model;

FIG. 2 is a schematic diagram of the front view of a simulated hand without palm;

FIG. 3 is a schematic rear view of a simulated hand of the present utility model;

FIG. 4 is a schematic diagram of the left-hand structure of a bionic hand according to the utility model;

FIG. 5 is a schematic diagram of the right-hand structure of a bionic hand according to the utility model;

FIG. 6 is a right-side view of the bionic finger according to the utility model;

FIG. 7 is a schematic view of the thumb structure of the present utility model;

fig. 8 is a schematic view of the internal structure of the distal knuckle of the present utility model.

Wherein, 1, the second drive shaft; 2. a fixed shaft; 3. a fixing wire; 4. A movable joint; 5. a wire through hole; 6. A three-finger synchronizing shaft; 6-1, three-finger limiting shafts; 7. a hook; 8. a bayonet lock; 8-1, an operation end; 8-2, a return spring; 8-3, a clamping groove; 8-4, limiting blocks; 8-5, positioning wires; 9. a four-finger drive shaft; 10 palms; 11. Fixing the shaft; 12. a first drive shaft; 13. a forefinger limiting shaft; 14. a lower fixing rod; 15. resetting the fixing wire; 16. an arc-shaped track; 17. an upper fixing rod; 18. a fulcrum; 19. positioning a tension spring; 20. briquetting; 21. and a buffer spring.

Description of the embodiments

The utility model is further illustrated by the following examples:

1-8, it includes palm 10, with palm 10 pass through the finger of fixed axle 11 swing joint, drive five fingers action's drive shaft and set up the back of palm 10 with the spacing axle on the finger root, the drive shaft includes the first drive shaft 12 that sets up in palm 10 and sets up at the root of the finger and drive four-finger second drive shaft 1, second drive shaft 1 sets up on the index finger and links with the arc track 16 of middle finger, the middle finger also moves when second drive shaft 1 drives the index finger action, three-finger synchronizing shaft 6 links into a whole with middle finger, ring finger and little finger simultaneously move as well as the middle finger action, the main drive line that index finger action fixed axle 2 was connected with power device drives the thumb and moves together, the thumb simultaneously of four fingers rotation along fixed axle 11 is followed to the second drive shaft 1 and is passed around second drive shaft 12 and is connected, the action of driving five fingers has been realized.

As shown in fig. 1-3 and fig. 5, a locking unit is movably arranged at the joint of the palm 10 and the finger root, and the locking unit can lock the middle finger, the ring finger and the little finger according to the action requirement so as to keep the middle finger, the ring finger and the little finger in a bent state all the time. The second driving shaft 1 is arranged on the index finger and is connected with an arc-shaped track 16 of the middle finger, the middle finger is provided with an arc-shaped track 16 for the second driving shaft 1 to move, when the middle finger, the ring finger and the little finger are in a locking state, the main driving line drives the second driving shaft 1 to move through the first driving shaft 12, the first driving shaft 1 moves in the arc-shaped track 16, and the actions of pinching the thumb, the index finger and the small article are realized; therefore, the arrangement of the arc-shaped track 16 can meet the requirement that the actions of the index finger and the thumb are not influenced under the three-finger locking state, and the functions of the bionic hand are widened. In the state of unlocking the three fingers, the second driving shaft 1 drives the index finger, the middle finger, the ring finger and the little finger to rotate along the fixed shaft 11, and the three-finger synchronous shaft 6 arranged at the joint of the middle finger, the ring finger and the little finger synchronously rotates with the index finger under the action of the second driving shaft 1, and simultaneously, the thumb also moves along with the rotation, so that the five-finger gripping action is realized. The three-finger synchronizing shaft 6 is arranged to enable the middle finger, the ring finger and the little finger to synchronously act.

When the grasping is completed and needs to be straightened, the fingers of the main driving line are slowly straightened under the action of the reset spring, and a limiting shaft is arranged for preventing the four fingers from being bent backwards due to transitional straightening. As shown in fig. 3, the limiting shaft comprises a three-finger limiting shaft 6-1 and an index finger limiting shaft 13, wherein the three-finger limiting shaft 6-1 is arranged on the finger root at the joint of the palm 10, the middle finger, the ring finger and the little finger below the three-finger synchronizing shaft 6, so as to prevent transition straightening and backward bending of the three fingers in the process of straightening the three fingers; the index finger limiting shaft 13 is arranged on the finger root at the joint of the index finger and the palm 10, and prevents the index finger from being transitionally straightened and backward bent in the straightening process.

The locking unit comprises a hook 7 arranged at the root of the ring finger and a clamping pin 8 corresponding to the hook 7, and the clamping pin 8 is movably arranged in a clamping pin slideway at the joint of a palm 10 and the root of the finger below the three-finger synchronous shaft 6. When the locking unit is in a locking state, the hook 7 is firmly matched with the clamping groove 8-3 on the clamping pin 8, and the middle finger, the ring finger and the little finger of the three-finger synchronous shaft 6 are simultaneously locked, so that the three-finger synchronous shaft is no longer synchronous with the index finger; only when the locking unit is in an unlocking state, the three fingers and the index finger can synchronously act.

As shown in fig. 1 and 2, the locking pin 8 is provided with an operation end 8-1 and a locking groove 8-3 corresponding to the hook 7, and the width dimension of the locking groove 8-3 is slightly larger than that of the hook 7, so that a moderate movable space of the hook 7 in the locking groove 8-3 is ensured, and locking and unlocking of the locking unit are realized conveniently by locking and unlocking of the matching state of the hook 7 on the ring finger and the locking groove 8-3.

The connecting part of the operation end 8-1 and the palm 10 is provided with a return spring 8-2, one end of the return spring 8-2 is fixed on the palm 10 above the bayonet lock slide way, and the other end is clamped in a counter bore of the operation end 8-1. When unlocking is needed, the operating end 8-1 is pressed inwards, so that the clamping pin 8 moves inwards along the clamping pin slideway, and the clamping groove 8-3 is separated from the hook 7 to unlock. The bayonet lock 8 is returned by the return spring 8-2. The clamping pin 8 corresponding to the clamping groove 8-3 is provided with a limiting block 8-4 fixed with the clamping pin 8 through a positioning wire 8-5. The arrangement of the limiting block 8-4 enables the bayonet lock 8 to be reset only and not to be ejected, and can effectively prevent the bayonet lock 8 from being pulled out of the bayonet lock slideway.

To sum up, when three fingers are needed to be locked, the three fingers are pulled, the three fingers are arranged on the three-finger synchronous shaft 6 to act simultaneously, the inclined surface of the hook 7 pushes the bayonet lock 8 to move inwards until the hook 7 is completely matched with the clamping groove 8-3, the return spring 8-2 pushes the bayonet lock 8 to move outwards to enable the clamping groove 8-3 to hang the hook 7, when the three fingers are needed to be unlocked, the operating end 8-1 is pressed inwards to enable the hook 7 to be separated from the clamping groove 8-3 to be unlocked, and under the action of the three-finger internal return spring, the three fingers rotate reversely to reset gradually to straighten. The bayonet lock 8 is reset under the action of the return spring 8-2.

The driving shaft further comprises a four-finger driving shaft 9 arranged at the joint of the back of the palm 10 and the root of the index finger, the middle finger, the ring finger and the little finger and a fixing shaft 2 arranged at the root of the index finger, the ring finger and the little finger are respectively provided with a far knuckle driving wire, one end of each far knuckle driving wire is fixed with the four-finger driving shaft 9, the other end of each far knuckle driving wire is sequentially fixed with a pressing block 20 in the far knuckle through a wire passing hole 5 formed in the near knuckle and the far knuckle, a thumb far knuckle driving wire is arranged in the thumb, one end of each thumb far knuckle driving wire is fixed with the fixing shaft 2, and the other end of each thumb far knuckle driving wire is sequentially fixed with the pressing block 20 in the thumb far knuckle through a wire passing hole 5 formed in the near knuckle and the thumb far knuckle. The power device works to drive the main driving line to act, the second driving shaft 1 acts to drive the index finger to act under the action of the main driving line, the index finger drives the middle finger to rotate along the direction of the palm along the designated shaft 11, meanwhile, the long knuckle driving line with one end fixed with the four-finger driving shaft 9 is wound along the outer circle of the finger root, the other end can pull the long knuckle to bend towards the palm, as the three-finger synchronizing shaft 6 connected with the three fingers is arranged, the middle finger, the ring finger and the little finger can do the same action, the arrangement of the second driving shaft 1 enables the index finger to act synchronously with the three fingers, and the power device stops driving the main driving line until the four fingers bend to the required bending degree, so that the fingers are kept in the bending state; when the finger is required to straighten, the main driving wire of the reverse driving main driving wire is pre-loosened, and the finger is slowly straightened under the action of the reset spring. The index finger moves while the fixed shaft 2 moves, and the thumb distal knuckle driving line drives the thumb distal knuckle to move, so that the coordination of the five fingers is completed.

The inner structure of the distal knuckle on the five fingers is the same, as shown in fig. 8, the pressing block 20 is fixed with the buffer spring 21 arranged in the distal knuckle through the fixing wire 3, and the other end of the buffer spring 21 is clamped in the counter bore of the distal knuckle, so that the buffer spring 21 is prevented from falling from the counter bore to lose elasticity in the process of grasping. The buffer spring 21 is arranged, so that when the five fingers grasp an object, a soft holding force and a buffer force are arranged between the object and the knuckle, the object is ensured to be grasped stably by proper force in the grasping process, the object is not broken by the excessive force, and the self-adaptability is greatly enhanced.

As shown in fig. 7, the joint between the thumb proximal knuckle and the palm 10 is provided with a fulcrum 18 for positioning and swinging the thumb and a supporting groove arranged on the palm 10 and corresponding to the fulcrum 18, an upper fixing rod 17 is arranged in the thumb proximal knuckle, a lower fixing rod 14 is arranged in the palm 10 corresponding to the upper fixing rod 17, and a positioning tension spring 19 is arranged between the upper fixing rod 17 and the lower fixing rod 14. The thumb adopts the structure of spring self-locking hinge, near knuckle swings about fulcrum 18, when stir near knuckle exceeds the critical point, realizes the auto-lock under the effect of location tension spring 19, can inwards stir also can outwards stir and realize two grades of regulation.

When the thumb swings outwards, the side pinching action of the thumb and the index finger can be realized, small articles such as the delivered cards and playing cards are pinched steadily, the contact area of the pinched articles with the index finger and the thumb is increased in the side pinching process, and the pinched articles are not easy to slide off. The thumb can swing outwards and inwards by pulling the proximal knuckle of the thumb and driving the distal knuckle by the proximal knuckle. When the thumb is swung inwards, the finger-to-finger state of the thumb and the index finger can be realized, and small articles can be conveniently clamped.

In addition, no matter the thumb is swung outward or is swung inward, when middle finger, ring finger, little finger are in the locking state, can all be convenient realize the single action of pointing of forefinger, the implementation of actions such as convenient operation switch, key-press dish, just the angle of single action of pointing is more suitable in the thumb outward state, the implementation of convenient action.

As shown in fig. 1-4, the fingers are provided with a proximal knuckle connected with the palm 10 and a distal knuckle connected with the proximal knuckle through a reset spring, two ends of the reset spring are connected through a reset fixing wire 15, the reset spring is symmetrically arranged on two sides of the movable knuckle 4, and the movable knuckle 4 is arranged at the joint of the root of the distal knuckle and the proximal knuckle. The arrangement of the reset spring ensures that the five fingers have a moderate reset force in the process of straightening and bending, is convenient for the flexible straightening and bending of the five fingers, and ensures that the action process of the five fingers is softer.

In the process of five-finger gripping, the distal knuckle and the proximal knuckle are firstly required to be closed inwards by overcoming the acting force of the reset spring, when the distal knuckle and the proximal knuckle are contacted with the surface of a gripped object, a soft holding force and a buffering force are arranged between the distal knuckle and the gripped object under the action of the buffering spring 21, the five-finger is used for enveloping the object slowly, further gripping the object, and the self-adaptive gripping of the gripped object is realized, so that the device is also suitable for gripping irregular objects. In a word, the whole gripping process can realize soft force according to the hardness, size and shape of the gripped object, and the gripping process has good self-adaptability. The phenomenon that the object to be grasped is smashed and damaged due to overlarge force in the grasping process is avoided. After the grasping is completed, the force is reversely applied, the main driving wire is reversely driven, the finger slowly loosens the grasped object under the reaction of the buffer spring 21, and simultaneously, each knuckle is reset under the action of the reset spring.

Finally, it should be noted that: the above examples are only illustrative for the clarity of the utility model and are not meant to be limiting in any way. Other variations or modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, and obvious variations or modifications of the utility model are intended to be within the scope of the utility model.

Claims (10)

1. The utility model provides a multi freedom imitative living hand with locking function which characterized in that: including palm (10), with palm (10) pass through dead axle (11) swing joint's finger, drive five fingers action's drive shaft and the spacing axle of setting on the back and finger junction finger root of palm (10), palm (10) are equipped with the locking unit with finger root junction activity, the drive shaft is including setting up first drive shaft (12) in palm (10) and setting up second drive shaft (1) at four fingers of finger root drive, and second drive shaft (1) and first drive shaft (12) are connected are walked around to the main drive line that is connected with power device, second drive shaft (1) drive finger is followed dead axle (11) rotation drive five fingers action.

2. The multi-degree of freedom bionic hand with locking function of claim 1, wherein: the second driving shaft (1) is arranged on the index finger and is connected with the root of the middle finger, an arc-shaped track (16) for the second driving shaft (1) to move is arranged on the middle finger, a three-finger synchronous shaft (6) is arranged at the joint of the middle finger, the ring finger and the little finger, the locking unit comprises a hook (7) arranged on the root of the ring finger and a clamping pin (8) corresponding to the hook (7), and the clamping pin (8) is movably arranged in a clamping pin slideway at the joint of a palm (10) below the three-finger synchronous shaft (6) and the root of the finger.

3. The multi-degree of freedom bionic hand with locking function of claim 2, wherein: an operation end (8-1) and a clamping groove (8-3) corresponding to the hook (7) are arranged on the clamping pin (8), a return spring (8-2) is arranged at the joint of the operation end (8-1) and the palm (10), the clamping pin (8) corresponding to the clamping groove (8-3) is provided with a limiting block (8-4) fixed with the clamping pin (8) through a positioning wire (8-5).

4. The multi-degree of freedom bionic hand with locking function of claim 1, wherein: the driving shaft further comprises a four-finger driving shaft (9) and a fixing shaft (2), wherein the four-finger driving shaft (9) is arranged at the joint of the back of a palm (10) and the root of an index finger, the middle finger, the ring finger and the little finger, the far knuckle driving wire is arranged in the index finger, the middle finger, the ring finger and the little finger, one end of the far knuckle driving wire is fixed with the four-finger driving shaft (9), the other end of the far knuckle driving wire is sequentially fixed with a pressing block (20) in the far knuckle through a wire passing hole (5) formed in the near knuckle and the far knuckle, the fixing shaft (2) is fixed with one end of a thumb far knuckle driving wire arranged in the thumb, and the other end of the fixing shaft is sequentially fixed with a pressing block (20) in the thumb far knuckle through a wire passing hole (5) formed in the thumb near knuckle and the thumb far knuckle.

5. The multi-degree of freedom bionic hand with locking function of claim 4, wherein: the pressing block (20) is fixed with a buffer spring (21) arranged in the distal knuckle through a fixing wire (3), and the other end of the buffer spring (21) is clamped in a counter bore of the distal knuckle.

6. The multi-degree of freedom bionic hand with locking function of claim 4, wherein: the thumb proximal knuckle is provided with a fulcrum (18) for positioning and swinging the thumb and a branch groove which is arranged on the palm (10) and corresponds to the fulcrum (18) at the joint of the thumb proximal knuckle and the palm (10).

7. The multi-degree of freedom bionic hand with locking function of claim 6, wherein: an upper fixing rod (17) is arranged in the thumb near knuckle, a lower fixing rod (14) is arranged in the palm (10) corresponding to the upper fixing rod (17), and a positioning tension spring (19) is arranged between the upper fixing rod (17) and the lower fixing rod (14).

8. The multi-degree of freedom bionic hand with locking function of claim 1, wherein: the three-finger synchronous device is characterized in that the limiting shaft comprises a three-finger limiting shaft (6-1) and an index finger limiting shaft (13), the three-finger limiting shaft (6-1) is arranged on the finger root of the joint of the middle finger, the ring finger and the little finger and the palm (10) below the three-finger synchronous shaft (6), and the index finger limiting shaft (13) is arranged on the finger root of the joint of the index finger and the palm (10).

9. The multi-degree of freedom bionic hand with locking function according to any one of claims 1-8, wherein: the finger is provided with a near knuckle connected with a palm (10) and a far knuckle connected with the near knuckle through a reset spring, and two ends of the reset spring are connected through reset fixing wires (15).

10. The multi-degree of freedom bionic hand with locking function of claim 9, wherein: the reset springs are symmetrically arranged on two sides of the movable joint (4), and the movable joint (4) is arranged at the joint of the root of the distal knuckle and the proximal knuckle.