CN112641543B - A flexible prosthetic hand with adaptive grip - Google Patents

Abstract

The invention discloses an adaptive grasping flexible artificial hand, which relates to the technical field of medical rehabilitation equipment, and comprises four finger modules, a thumb module, a palm module connecting each finger module, a driving module fixed inside the palm module, and a rope transmission module. The finger module is composed of flexible bionic joints and phalanges, and the flexible bionic joints connected to the phalanges have different stiffness characteristics. The prosthetic hand can cooperate with the reaction force of the grasped object through the movement of the driving module inside the palm, so that the finger module can make different gestures according to the shape of the grasped object. The self-adaptive grasping flexible prosthetic hand can better adapt to grasping objects of different shapes, realize adaptive grasping and pinching actions, and meet the daily needs of patients. It is manufactured by 3D printing, which is convenient for design modification and manufacture, low in cost and easy to promote.

Description

A flexible prosthetic hand with adaptive grip

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to an adaptive grasping flexible artificial hand.

Background technique

Although prosthetic hands and prosthetic limbs suitable for amputee patients on the market can perform some simple actions, they are generally too bulky and expensive, and are not suitable for patients' daily life. So far, they have not been popularized on a large scale.

In addition, the vast majority of prosthetic hands and prosthetics on the market are composed of rigid components, which are very bulky to move. Considering the safety of sports and the portability of equipment, designing a flexible prosthetic hand that is suitable for the daily life of amputees and assists patients in completing basic gestures has broad prospects.

Therefore, those skilled in the art are devoting themselves to designing a flexible prosthetic hand with adaptive grip to achieve multiple grip postures, while having better flexibility and lighter weight, which is suitable for the daily life of amputee patients.

Contents of the invention

In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is how to control the mutual movement of the thumb and other fingers to realize the multi-grasp posture action of the prosthetic hand, how to improve the safety of the prosthetic hand, how to reduce the weight of the prosthetic hand, and make it easy to wear, so as to be more suitable for the daily life scenes of amputee patients.

In order to achieve the above object, the present invention provides an adaptive grasping flexible prosthetic hand, including a finger module, a thumb module, a palm module, a drive module and a rope transmission module;

The quantity of described finger module is four, is set to correspond to index finger, middle finger, ring finger and little finger respectively, and the structure of each described finger module is similar, and size is different;

said thumb module is configured to correspond to a thumb;

The finger module is located on the top of the palm module and is hinged to the finger base on the top of the palm module; the thumb module is located on the side of the palm module and is hinged to the thumb base at the lower corner of the palm module;

The drive module is located inside the palm module and includes two left and right sub-drive modules; the sub-drive module includes a motor and a bobbin; the bobbin includes an upper bobbin and a lower bobbin; the bobbin is fixed on the top of the motor; the motor is fixed in the motor seat inside the palm module; the left and right sub-drive modules are arranged upside down in the motor seat inside the palm module;

The rope transmission mechanism module includes a rope for the finger drive mechanism and a rope for the thumb drive mechanism.

Further, the finger module includes a fingertip block, a distal phalanx block, a deformation compensation module, a middle phalanx block, a proximal phalanx block, a flexible hinge and a spring;

A first chute is arranged in the fingertip block, and the fingertip block and the distal phalanx block are connected by screws and nuts, and the screws and nuts are fixed in the first chute;

The lower end of the fingertip block is provided with a first threaded boss, and the spring is embedded on the first threaded boss and is in contact with the distal phalanx block;

The deformation compensation module is provided with a second chute, the distal phalanx and the deformation compensation module are hinged by the flexible hinge, and are fixed by screws and nuts, and the screws and nuts are fixed in the second chute;

The lower end of the deformation compensation module is provided with a second threaded boss, and the spring is embedded on the second threaded boss and is in contact with the middle phalanx block;

The deformation compensation module is also provided with a third chute, the deformation compensation module and the middle phalanx are fixed by screws and nuts, and the screws and nuts are fixed in the third chute;

A fourth chute is arranged in the proximal phalanx, and the middle phalanx and the proximal phalanx are hinged by the flexible hinge and fixed by screws and nuts, and the screws and nuts are fixed in the fourth chute.

The fifth chute is also arranged in the proximal phalanx block, and the proximal phalanx block and the finger base on the top of the palm module are hinged by the flexible hinge and fixed by screws and nuts, and the screws and nuts are fixed in the fifth chute.

Further, a first guide hole is provided on both sides of the lower part of the fingertip block, a second guide hole is provided on both sides of the lower part of the distal phalanx block, a third guide hole is provided on both sides of the lower part of the deformation compensation module, a fourth guide hole is provided on both sides of the lower part of the middle phalanx block, and a fifth guide hole is provided on both sides of the lower part of the proximal phalanx block; the two ends of the rope for the finger drive mechanism respectively pass through the first guide hole, the second guide hole, the third guide hole, the fourth guide hole and the fifth guide hole on both sides of the corresponding finger module in turn, and then are fixed on the drive module .

Further, the finger module includes distal interphalangeal joints, proximal interphalangeal joints, metacarpophalangeal joints, middle phalanx interphalangeal joints and distal phalanx interphalangeal joints;

The distal interphalangeal joint is composed of the flexible hinge, the deformation compensation module and the spring, the proximal interphalangeal joint is composed of the flexible hinge, the metacarpophalangeal joint is composed of the flexible hinge, the middle phalanx interphalangeal joint is composed of the flexible hinge, and the distal phalanx interphalangeal joint is composed of the flexible hinge, the deformation compensation module and the spring;

Stiffness of the interphalangeal joint of the middle phalanx=stiffness of the interphalangeal joint of the distal phalanx<stiffness of the metacarpophalangeal joint<stiffness of the proximal interphalangeal joint<stiffness of the distal interphalangeal joint.

Further, the thumb module includes a thumb fingertip block, a thumb base block and a flexible hinge, the thumb fingertip block and the thumb base block are hinged through the flexible hinge; the thumb base block is connected to the thumb base at the lower corner of the palm module side by screws and nuts, and the screws and nuts are fixed in the chute structure on the thumb base; the right side of the thumb base block is provided with a thumb base block groove; the thumb base block and the palm module are fixed on the chute and the palm of the palm In the chute, the positions of the chute on the palm and the chute on the palm are parallel to the horizontal plane.

Further, the lower part of the thumb fingertip block is provided with a first thumb guide hole and a second thumb guide hole perpendicular to each other; a curved third thumb guide hole is provided inside the thumb base block, and a fourth thumb guide hole is provided outside the thumb base; the thumb transmission mechanism is fixed on the drive module after passing through the fourth thumb guide hole, the third thumb guide hole, the thumb second guide hole, the thumb first guide hole, the thumb third guide hole, and the thumb fourth guide hole with a rope.

Further, the palm module includes a palm top member, a palm bottom member, a palm frame, an upper cover on the back of the hand, a lower cover on the back of the hand, and a motor base.

Further, the front of the finger base on the top of the palm module is provided with four first guide holes of the palm; the upper end of the inner wall of the palm module is provided with three second guide holes of the palm; the lower end of the inner wall of the palm module is provided with seven third guide holes of the palm; the top of the upper bobbin in the drive module is provided with twenty first guide holes for driving; The second guide hole of the palm is fixed at the first guide hole of the drive; the thumb transmission mechanism is fixed at the first guide hole of the drive through the third guide hole of the palm after passing through the fourth guide hole of the thumb, the third guide hole of the thumb, the second guide hole of the thumb and the first guide hole of the thumb through the third guide hole of the palm with a rope.

Further, there is a palm-wrist interface at the bottom of the palm module to connect with the wrist device; the thumb transmission mechanism is fixed to the drive unit on the left side with a rope, the finger drive mechanism on the finger module corresponding to the index finger is fixed to the drive unit on the left side with a rope, and the finger drive mechanism on the finger module corresponding to the middle finger, ring finger and little finger is fixed to the drive unit on the right side with a rope.

Further, the self-adaptive grip flexible prosthetic hand is manufactured by 3D printing technology.

Compared with the prior art, the technical solution proposed by the present invention has the following beneficial technical effects:

1. The finger module is designed with a 5-rotation pair model and is composed of five phalanxes; the fingertip block and the distal phalanx block simulate the distal phalanx of the finger, the deformation compensation module and the middle phalanx block simulate the middle phalanx of the finger, and the proximal phalanx block simulates the proximal phalanx of the finger.

2. The finger module adopts flexible hinge connection, spring connection, and screw-nut connection, wherein the screw and nut can slide in the chute at the connection structure. The combination of flexible connection and rigid connection makes the fingers flexible, improves the flexibility of the fingers of the prosthetic hand, and also makes the motion trajectory of the prosthetic hand more in line with that of a healthy human hand, and can better fit objects with different surface conditions. The stiffness of the flexible hinge is different from that of the spring. Under the action of the tension of the rope, the joints bend according to the design sequence, simulating the movement of the human hand when grasping objects. For objects of different sizes, the prosthetic hand implements different bending strategies to complete the adaptive grasping action.

3. Flexible hinge connections and screw-nut connections are used in the thumb module. Among them, the screw and nut can slide in the chute at the connecting structure, so that the thumb can realize the coupling movement of flexion, extension, abduction and adduction, and can complete the "palm palm" action, which increases the number of grasping postures that can be realized by the prosthetic hand and enriches the applicable scenarios of the prosthetic hand. At the same time, it cooperates with the finger module to realize the pinching action.

4. There are multiple guide holes on the finger module, thumb module, palm module, and driver module to facilitate wiring. At the same time, the configuration of two motor drives is adopted, one motor drives the three finger modules of the middle finger, ring finger, and little finger, and the other motor drives the two modules of the thumb and index finger; the two motors are driven independently and cooperate with each other, so that the prosthetic hand can complete more grasping postures.

5. The drive module is integrated with the inside of the palm module, and the structure is compact and small; the whole is processed by 3D printing technology, which is low in cost and convenient for personalized customization.

6. There is a wrist-palm interface at the bottom of the palm module, which is convenient to cooperate with the subsequent wrist mechanism.

The idea, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.

Description of drawings

Fig. 1 is a partial structural representation of a preferred embodiment of the present invention;

Fig. 2 is a schematic diagram of a finger module of a preferred embodiment of the present invention;

Fig. 3 is a fingertip block structural diagram of a preferred embodiment of the present invention;

Fig. 4 is a schematic diagram of a distal phalanx module and a distal fingertip joint module in a preferred embodiment of the present invention;

Fig. 5 is a schematic diagram of a middle phalanx module and a proximal fingertip joint module in a preferred embodiment of the present invention;

Fig. 6 is a schematic diagram of a proximal phalanx module and a metacarpophalangeal joint module in a preferred embodiment of the present invention;

Fig. 7 is a schematic diagram of a thumb module of a preferred embodiment of the present invention;

Fig. 8 is a schematic diagram of a drive module of a preferred embodiment of the present invention;

Fig. 9 is a schematic diagram of the palm module of a preferred embodiment of the present invention;

Among them, 1-finger module; 2-thumb module; 3-palm module; 4-drive module; 5-rope; 6-fingertip block; 7-distal phalanx block; 8-deformation compensation module; 9-middle phalanx block; 10-proximal phalanx block; 11-flexible hinge; 12-screw; -Third guide hole; 20-Fourth guide hole; 21-Fifth guide hole; 22-Fifth chute; 23-Fourth chute; 24-Second thread boss; 25-Third chute; Shaft; 35-motor; 36-finger base; 37-first guide hole of palm; 38-second guide hole of palm; 39-top member of palm; 40-right groove of motor seat; 41-palm frame; Cover plate; 50-left groove of motor seat; 51-motor seat.

Detailed ways

The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is exaggerated appropriately in some places in the drawings.

As shown in FIG. 1 , it is a partial structural diagram of an embodiment of the present invention. In this embodiment, the self-adaptive grasping flexible prosthetic hand includes a finger module 1, a thumb module 2, a palm module 3, a driving module 4 and a rope 5.

2-6 are schematic diagrams of the structure of the finger module in the embodiment of the present invention. The four finger modules 1 correspond to the index finger, middle finger, ring finger and little finger respectively. Because the components and connection methods of each finger structure are the same, the only difference is the difference in size. It should be noted that the setting of the finger module is not limited to the configuration shown in Figure 1, and can be selected according to the specific conditions of the patient.

As shown in Figure 2-6, the finger module includes a fingertip block 6, a distal phalanx block 7, a deformation compensation module 8, a middle phalanx block 9, a proximal phalanx block 10, a flexible hinge 11, a screw 12, a nut 13, and a spring 14. Fingertip block 6 is connected by screw 12, nut 13 between distal joint phalanx block 7; Screw 12, nut 13 are fixed in the first slide groove 17. The lower end of the fingertip block 6 is provided with a first threaded boss 15, and the spring 14 is embedded on the first threaded boss 15 and contacts with the distal phalanx block 7. The distal phalanx 7 and the deformation compensating module 8 are hinged by a flexible hinge 11 and fixed by screws 12 and nuts 13 , and the screws 12 and nuts 13 are fixed in the second sliding groove (not shown in the figure). The lower end of the deformation compensating module 8 is provided with a second threaded boss 24 , and the spring 14 is embedded on the second threaded boss 24 to be in contact with the middle phalanx 9 . The deformation compensation module 8 and the middle phalanx 9 are fixed by screws 12 and nuts 13 ; the screws 12 and nuts 13 are fixed in the third slide groove 25 . The middle phalange block 9 and the proximal phalanx block 10 are hinged by a flexible hinge 11 and fixed by screws 12 and nuts 13 , and the screws 12 and nuts 13 are fixed in the fourth sliding groove 23 . The proximal phalanx block 10 and the palm module top finger base 36 are hinged by a flexible hinge 11, and are fixed by screws 12 and nuts 13 simultaneously, and the screws 12 and nuts 13 are fixed in the fifth chute 22. The finger module 1 can complete the action of joint bending under the action of the flexible hinge 11, the spring 14, and the screws 12 and nuts 13 positioned in the chute. Three phalanx modules and three flexible bionic joint modules form the flexible finger module 1, which makes the artificial hand have better flexibility and motion compliance, and can better fit the surface of the grasped object.

Fig. 7 is a schematic structural diagram of the thumb module in the embodiment of the present invention.

As shown in FIG. 7 , the thumb module is composed of a thumb tip block 26 , a thumb base block 31 and a flexible hinge 11 . Thumb fingertip block 26 and thumb base block 31 are hinged by flexible hinge 11, fixed by screw 12, nut 13. The right side of the thumb base block 31 is provided with a groove 29 for the thumb base block. Hinged by flexible hinge 11 between thumb base block 31 and palm module 3, fixed by screw 12, nut 13;

Fig. 8 is a schematic structural diagram of a driving module in an embodiment of the present invention.

As shown in Figure 8, drive module is made of upper bobbin 32, lower bobbin 34, motor 35; Upper bobbin 32, lower bobbin 34 are combined up and down, are fixed on the motor shaft (not shown in the figure). The motor 35 drives the upper bobbin 32 and the lower bobbin 34 to rotate through rotation.

Fig. 9 is a schematic diagram of the structure of the palm module in the embodiment of the present invention.

As shown in FIG. 9 , the palm module 3 is composed of a palm top member 39 , a palm bottom member 43 , a palm frame 41 , an upper cover plate 49 on the back of the hand, a lower cover plate 48 on the back of the hand, and a motor seat 51 . The upper end of the palm top member 39 is provided with a structural finger base 36 for connecting with the finger module. Palm bottom member 43 right side is provided with structure palm upper chute 44, palm lower groove 45, is used for being connected with thumb module. The lower end of the dorsum of the hand lower cover plate 48 is provided with a structural wrist-palm interface 47, which is used to be connected with the follow-up wrist mechanism. The palm frame 41 and the motor base 51 are fixed by screws 12 and nuts 13; the screws 12 and nuts 13 are located in the side holes of the palm frame.

As shown in FIG. 1 , the left and right sides of the motor base 51 are respectively provided with structures: the left groove 50 of the motor base and the right groove 40 of the motor base; the driving module 4 and the motor base are fixed in the left groove 50 of the motor base and the right groove 40 of the motor base. The left and right drive modules are turned upside down, wherein in the drive module 4 on the left, the upper bobbin 32 and the lower bobbin 34 are located below the motor 35;

As shown in Fig. 2-9, the technical scheme of the present invention has guide holes on finger module 1; Thumb module 2; The first guide hole 37 of the palm is provided on the inner wall of the top member 39 of the palm, the second guide hole 38 of the palm is provided in front of the finger base 36 at the top of the top member 39 of the palm, and the third guide hole 46 of the palm is provided on the bottom member 43 inner wall of the palm. Have a driving first guide hole 33 on the bobbin 32 top. Two vertical guide holes are provided at the bottom of the thumb tip block 26, which are respectively the first guide hole 27 of the thumb and the second guide hole of the thumb (not shown in the figure), the third guide hole 28 of the thumb with a curved shape is arranged inside the thumb base block 31, and the fourth guide hole 30 of the thumb is arranged outside the thumb base block. In addition to the guide holes in the thumb module, the number of the above-mentioned guide holes is greater than or equal to two, which provides a variety of options for the routing of the ropes.

As shown in FIGS. 1-7 , the rope 5 connects the driving module 4 , the palm module 3 and the finger module 1 . A specific finger rope routing path is introduced below, and its routing path is as follows: one end of the rope 5 is fixed on the first guiding hole 33 of the drive, and then connected to the palm module through the first guiding hole 37 of the palm and the second guiding hole 38 of the palm; 0. Pass through the fifth guide hole 21; then pass through the second guide hole 38 of the palm and the first guide hole 37 of the palm; finally return to the drive module 4 and fix it on the first drive guide hole 33 again. Rope 5 is driven by the drive module 4 on the right side that is fixed on the motor base right groove 40. The rope arrangement is not unique, and other suitable paths can be selected according to requirements.

As shown in Fig. 1, Fig. 7, Fig. 8, Fig. 9, a kind of specific thumb rope wiring path is introduced below, and its routing path is as follows: one end of the rope 5 is fixed on the driving first guide hole 33, then passes through the third guide hole 46 of the palm, then passes through the fourth guide hole 30 of the thumb, the third guide hole 28 of the thumb, the second guide hole of the thumb (not shown in the figure), the first guide hole 27 of the thumb, the third guide hole 28 of the thumb, and the fourth guide hole 30 of the thumb to complete the connection to the thumb module; Pass through the third guide hole 46 of the palm again, get back to the drive module 4 at last, and be fixed on the first guide hole 33 for driving again. Rope 5 is driven by the driving module 4 on the left side that is fixed on the motor base left groove 50. The rope arrangement is not unique, and other suitable paths can be selected according to requirements.

As shown in Figure 1, the drive module is integrated in the palm module, which reduces the overall size of the prosthetic hand and makes it lighter. At the same time, the main body of the prosthetic hand is processed by 3D printing technology, which is low in cost and convenient for personalized customization.

The working process of the pinching action of the self-adaptive grasping flexible prosthetic hand of the present invention is as follows under no-load conditions: first, only the motor 35 on the right side of the two motors is running when the pinching action is performed. Motor 35 runs, and the thumb rope 5 that is fixed on the drive module 4 on the right side shrinks. The thumb base block 31 slides along the palm upper chute 44 and the palm lower groove 45 under the contraction of the rope 5, realizing the adduction and rotation of the metacarpophalangeal joint of the thumb module 2; as the rope 5 continues to shrink, the proximal interphalangeal joint between the thumb fingertip block 26 and the thumb base block 31 bends. Simultaneously, the finger rope 5 that is fixed on the drive module 4 on the right side shrinks, and this finger rope is the index finger thumb rope. The contraction of the index finger and thumb rope 5 drives the joints of the index finger to bend, and the bending sequence is as follows: first, the middle interphalangeal joint between the deformation compensation module 8 and the middle phalanx 9 bends first, then the proximal interphalangeal joint between the fingertip 6 and the distal phalanx 7 bends, then the metacarpophalangeal joint between the proximal phalanx 10 and the finger base 36 bends, then the proximal interphalangeal joint between the first knot 9 and the proximal phalanx 10 bends, and finally the distal phalanx 7 is deformed Distal interphalangeal joint flexure between modules 8 is compensated. The flexion and rotation motion of the thumb and the flexion motion of the index finger are coupled to realize the gesture realization of pinching. At this time, the middle finger, ring finger, and little finger remain stretched.

The work flow of the self-adaptive grasping action of a flexible prosthetic hand of the present invention under the no-load condition is as follows: first, the motor 35 on the left side of the finger module 1 is driven to rotate, and the rope 5 shrinks; The proximal interphalangeal joint between the joint phalanx 10 is bent, and the distal interphalangeal joint between the last distal phalanx 7 and the deformation compensation module 8 is bent. Motor 35 on the left side drives the bending of middle finger, ring finger and little finger simultaneously. At the same time, the motor 35 on the right side that drives the thumb module 1 to perform the bending movement rotates, and the rope 5 contracts. For the index finger finger module 1 that is connected on the motor 35 on the right side, its motion process is similar to the middle finger module 1 that is driven by the motor 35 on the left side and carries out bending motion. For the thumb rope 5 connected to the motor 35 on the right side, under the contraction of the rope 5, the thumb base block 31 slides along the palm upper chute 44 and the palm glide groove 45, realizing the adduction motion of the metacarpophalangeal joint of the thumb module 2; as the rope 5 continues to shrink, the proximal interphalangeal joint between the thumb fingertip block 26 and the thumb base block 31 bends. The motor 35 on the right side drives the bending and rotation of the forefinger and the thumb simultaneously.

The following explains why the present invention can adapt to grasping objects of different shapes, and realizes the actions of adaptive grasping and pinching.

First of all, compared with the traditional prosthetic hand, the prosthetic hand finger module of the present invention adopts 5R (R-rotating pair) model design in the finger structure to form three flexible bionic joints, namely, flexible bionic metacarpophalangeal joints, flexible bionic proximal interphalangeal joints, and flexible bionic distal interphalangeal joints. The distal interphalangeal joints are composed of flexible hinges, deformation compensation modules and spring energy storage elements. The composition is a common bionic joint. This design optimizes the position of the support point, so that the prosthetic hand can better fit the actual situation and improve the grasping effect when realizing the pinching action. Each finger module can realize the flexion and extension of the finger joints under the action of flexible hinges, sliding grooves, springs and ropes. Among them, the flexible hinge and spring are used as the bending unit to bend and deform under the action of the tension of the rope, so as to realize the function of finger flexion. When the rope is released, the energy stored in the flexible hinge and spring during the bending process is used to provide resilience to realize the stretching function of the finger. Springs and flexible hinges have a bionic effect. The stiffness of the spring is smaller than that of the flexible hinge, and under the tension of the rope, the spring bends first; when the rope is released, the flexible hinge stretches first. The springs and flexible hinges are alternately arranged between the distal phalanx, the middle phalanx and the proximal phalanx, and together with the rope, the fingers are flexed and stretched.

Secondly, the prosthetic hand has an adaptive grasping function: when the prosthetic hand is in contact with the grasped object, under the action of the tension provided by the rope, the middle interphalangeal joint and the distal interphalangeal joint are connected by springs with less rigidity, so it bends first until the spring between the middle interphalangeal joint and the distal interphalangeal joint touches the threaded boss and stops bending. At this time, the metacarpophalangeal joint becomes the joint with the smallest stiffness. If the object is large, the rope continues to stretch. At this time, the proximal phalanx touches the object, the flexible hinge between the metacarpophalangeal joints reaches the limit of bending, the metacarpophalangeal joints stop bending, and the proximal interphalangeal joint becomes the joint with the least stiffness, which bends with the stretching of the rope. However, if the size of the grasped object is too large, all fingers are required to perform the grasping action. At this time, the middle phalanx touches the object, the flexible hinge between the proximal interphalangeal joints reaches the limit of bending, the proximal interphalangeal joint stops bending, and the distal interphalangeal joint becomes the joint with the least stiffness, which bends with the stretching of the rope until the distal phalanx touches the object. The bending action of each joint of the prosthetic hand depends entirely on the size of the grasped object, and springs with different stiffnesses and flexible hinges can provide adaptive grasping action during the bending process.

Thirdly, the thumb module realizes the flexion and extension of the finger joints, abduction and adduction under the action of the flexible hinge, the chute and the rope. The thumb base block and the palm module are fixed in the upper chute of the palm and the lower groove of the palm, and the positions of the upper chute and the lower groove of the palm are parallel to the horizontal plane. When the rope pulls the thumb to bend, the flexible hinge connecting the thumb base block and the palm module bends and deforms under the action of the tension of the rope, thereby realizing the flexion action of the thumb. , and complete the kinematic coupling of the bending action and the adduction action; when the rope is released, the energy storage of the flexible hinge during the bending process is used to provide the rebound force, and at the same time, the kinematic coupling of thumb extension and abduction is realized by using the motion track of the thumb retreating in the chute.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection defined by the claims.

Claims (8)

1. The self-adaptive gripping flexible artificial hand is characterized by comprising a finger module, a thumb module, a palm module, a driving module and a rope transmission module;

the number of the finger modules is four, the finger modules are respectively corresponding to the index finger, the middle finger, the ring finger and the little finger, and each finger module has similar structure and different size;

the thumb module is arranged to correspond to a thumb;

the finger module is positioned at the top of the palm module and hinged with the finger base at the top of the palm module; the thumb module is positioned at the side part of the palm module and hinged with a thumb base at the lower corner of the side of the palm module;

the driving module is positioned in the palm module and comprises a left sub-driving module and a right sub-driving module; the sub-driving module comprises a motor and a spool; the spool comprises an upper spool and a lower spool; the upper spool and the lower spool are fixed at the top of the motor; the motor is fixed in a motor seat in the palm module; the left sub-driving module and the right sub-driving module are arranged in a motor base inside the palm module upside down;

the rope transmission module comprises a rope for a finger driving mechanism and a rope for a thumb transmission mechanism;

the finger module comprises a fingertip block, a distal phalanx block, a deformation compensation module, a middle phalanx block, a proximal phalanx block, a flexible hinge and a spring;

a first chute is arranged in the fingertip block, the fingertip block is connected with the distal phalanx block through a screw and a nut, and the screw and the nut are fixed in the first chute;

the lower end of the fingertip block is provided with a first thread boss, and one end of the spring is embedded on the first thread boss and is contacted with the distal phalangeal block;

a second chute is arranged in the deformation compensation module, the distal phalange block is hinged with the deformation compensation module through a first flexible hinge, and the distal phalange block is fixed through a screw and a nut, and the screw and the nut are fixed in the second chute;

the lower end of the deformation compensation module is provided with a second threaded boss, and the other end of the spring is embedded on the second threaded boss and is in contact with the middle phalangeal block;

a third chute is further arranged in the deformation compensation module, the deformation compensation module and the middle phalangeal block are fixed by a screw and a nut, and the screw and the nut are fixed in the third chute;

a fourth sliding groove is formed in the proximal phalanx block, the middle phalanx block is hinged with the proximal phalanx block through a second flexible hinge, and the middle phalanx block is fixed through a screw and a nut, and the screw and the nut are fixed in the fourth sliding groove;

a fifth sliding groove is further formed in the proximal phalanx block, the proximal phalanx block is hinged with a finger base at the top of the palm module through a third flexible hinge, and meanwhile, the proximal phalanx block is fixed through a screw and a nut, and the screw and the nut are fixed in the fifth sliding groove.

2. The adaptive gripping flexible artificial hand according to claim 1, wherein the two sides of the lower part of the fingertip block are provided with first guide holes, the two sides of the lower part of the distal phalange block are provided with second guide holes, the two sides of the lower part of the deformation compensation module are provided with third guide holes, the two sides of the lower part of the middle phalange block are provided with fourth guide holes, and the two sides of the lower part of the proximal phalange block are provided with fifth guide holes; the two ends of the rope for the finger driving mechanism respectively pass through the corresponding first guide hole, second guide hole, third guide hole, fourth guide hole and fifth guide hole on two sides of the finger module in sequence and then are fixed on the driving module.

3. The adaptive gripping flexible artificial hand of claim 2, wherein the thumb module comprises a thumb tip block, a thumb base block, and a fourth flexible hinge, the thumb tip block and the thumb base block being hinged by the fourth flexible hinge; the thumb base block is connected with a thumb base at the lower corner of the palm module side through bolts and nuts in a chute structure on the thumb base; the right side of the thumb base block is provided with a thumb base block groove; the thumb base block and the palm module are fixed in the palm upper chute and the palm lower chute, and the positions of the palm upper chute and the palm lower chute are parallel to the horizontal plane.

4. The adaptive gripping flexible artificial hand according to claim 3, wherein the thumb tip block is provided at a lower portion thereof with a thumb first guide hole and a thumb second guide hole perpendicular to each other; the inside of the thumb base block is provided with a bent thumb third guide hole, and the outside of the thumb base is provided with a thumb fourth guide hole; the rope for the thumb transmission mechanism sequentially passes through the thumb fourth guide hole, the thumb third guide hole, the thumb second guide hole, the thumb first guide hole, the thumb third guide hole and the thumb fourth guide hole and is then fixed on the driving module.

5. The adaptive gripping flexible artificial hand according to claim 1, wherein the palm module comprises a palm top member, a palm bottom member, a palm frame, a back upper cover, a back lower cover, and a motor mount.

6. The adaptive gripping flexible artificial hand according to claim 4, wherein four palm first guide holes are provided in front of the finger base at the top of the palm module; three second palm guide holes are formed in the upper end of the inner wall of the palm module; seven third guide holes are formed in the lower end of the inner wall of the palm module; twenty driving first guide holes are formed in the top of the upper spool in the left sub-driving module and the right sub-driving module; the rope for the finger driving mechanism is fixed at the driving first guide hole after passing through the first guide hole, the second guide hole, the third guide hole, the fourth guide hole and the fifth guide hole on the finger module; the thumb drive mechanism is fixed to the drive first guide hole by the palm third guide hole after passing through the thumb fourth guide hole, the thumb third guide hole, the thumb second guide hole and the thumb first guide hole on the thumb module.

7. The adaptive gripping flexible artificial hand according to claim 1, wherein the palm module has a palm-wrist interface at the bottom for connection with wrist devices; the thumb drive mechanism rope is fixed on the left side of the sub-driving module, the finger drive mechanism rope on the finger module corresponding to the index finger is fixed on the left side of the sub-driving module, and the finger drive mechanism rope on the finger module corresponding to the middle finger, the ring finger and the little finger is fixed on the right side of the sub-driving module.

8. The adaptive gripping flexible prosthetic hand of claim 1, wherein the adaptive gripping flexible prosthetic hand is fabricated using 3D printing techniques.