阅读说明：本技术 一种仿生手骨 (Bionic hand bone ) 是由 邹锐周 于 2019-11-07 设计创作，主要内容包括：本发明公开了一种仿生手骨,包括手骨骨架,手骨骨架由手掌骨架和指头骨架组成,手掌骨架的一端设有五个凸起部,五个指根关节安装孔通过指根关节依次安装有角度可调节的拇指骨架、食指骨架、中指骨架、无名指骨架和小指骨架,且近节指骨、中节指骨和远节指骨的圆形端头处均开设有用于转抽穿过的轴孔,本发明的手掌骨架、指头骨架和指根关节可采用金属板一次冲压成型、激光切割或线切割方式进行加工,减少骨架工件的制造成本,同时提高工件的加工效率,且部件采用上述的加工方式,可确保批量工件加工时的尺寸统一性,提高成品的良率；同时可以确保成品的手指活动可以随时定位,确保手部可以做出仿人手的自然姿态,进一步提高成品的品质感。(The invention discloses a bionic hand skeleton, which comprises a hand skeleton, wherein the hand skeleton consists of a palm skeleton and a finger skeleton, one end of the palm skeleton is provided with five protrusions, five finger joint mounting holes are sequentially provided with a thumb skeleton with adjustable angles, an index finger skeleton, a middle finger skeleton, a ring finger skeleton and a little finger skeleton through finger joints, and round ends of proximal phalanx, middle phalanx and distal phalanx are all provided with shaft holes for rotary drawing to pass through; meanwhile, the finished finger movement can be positioned at any time, the hand can be made to have a natural posture simulating the hand of a person, and the quality of the finished product is further improved.)

1. A bionic hand skeleton comprises a hand skeleton framework and is characterized in that the hand skeleton framework consists of a palm skeleton (1) and a finger skeleton (2), five protrusions are arranged at one end of the palm skeleton (1), a finger joint mounting hole (12) is formed in the surface of each protrusion, and a thumb skeleton (21), an index finger skeleton (22), a middle finger skeleton (23), a ring finger skeleton (24) and a little finger skeleton (25) with adjustable angles are sequentially mounted in the five finger joint mounting holes (12) through finger joints (3);

thumb skeleton (21), forefinger skeleton (22), middle finger skeleton (23), ring finger skeleton (24) and little finger skeleton (25) all constitute by proximal phalanx (2a), middle phalanx (2b) and distal phalanx (2c), and proximal phalanx (2a), middle phalanx (2b) and distal phalanx (2c) all are flat dumbbell-shaped, and the circular end department of proximal phalanx (2a), middle phalanx (2b) and distal phalanx (2c) all offers the shaft hole that is used for the commentaries on classics to take out and pass.

2. A biomimetic hand bone according to claim 1, characterized in that: indicate root joint (3) include with palm skeleton (1) parallel arrangement's first connecting block (31), the one end of first connecting block (31) is equipped with rather than perpendicular fixed connection's second connecting block (32), and through-hole cooperation pivot that first connecting block (31) were seted up through the middle part is rotated with finger root joint mounting hole (12) and is connected, through-hole cooperation pivot that second connecting block (32) were seted up through the middle part is rotated with the shaft hole of nearly festival bone (2a) one end and is connected.

3. A biomimetic hand bone according to claim 1, characterized in that: the shaft hole of nearly festival phalanx (2a) other end rotates through the one end shaft hole of pivot and well festival phalanx (2b) to be connected, the other end shaft hole of well festival phalanx (2b) rotates through the one end shaft hole of pivot and distant section phalanx (2c) to be connected, the shape of distant section phalanx (2c) is unanimous with finger root joint (3) shape.

4. A biomimetic hand bone according to claim 1, characterized in that: the length of the proximal phalanx (2a) is greater than that of the middle phalanx (2b), the length of the middle phalanx (2b) is greater than that of the distal phalanx (2c), and the proximal phalanx (2a), the middle phalanx (2b) and the distal phalanx (2c) are all made of metal materials.

5. A biomimetic hand bone according to claim 4, characterized in that: the one end of palm skeleton (1) is located and all sets up the arc wall of indent between two adjacent finger root joint mounting holes (12), palm bone installation screens (13) have been seted up to the other end of palm skeleton (1).

6. A biomimetic hand bone according to claim 1, characterized in that: the middle part of the palm framework (1) is provided with a strip-shaped hollow hole (11).

7. A biomimetic hand bone according to claim 2 or 3, characterized in that: a locking member (4) is installed at one end of the rotating shaft, the rotating shaft can be one of a pin, a rivet or a screw, and the locking member (4) can be one of a locking ring and a nut.

8. The bionic hand bone as claimed in claim 7, wherein: one side of the locking piece (4) and one end of the rotating shaft are positioned on the same horizontal plane.

Technical Field

The invention relates to the technical field of bionic devices, in particular to a bionic hand bone.

Background

In the manufacturing process of the parts imitating the human hand, in order to increase the authenticity of the hand, a skeleton is embedded in the hand, but the traditional skeleton has the following defects:

(1) the traditional skeleton is manufactured from an original soft iron wire and a copper wire with good ductility to a shaped spring wire, but in the actual use process, the limitation of the skeleton movement angle in a hand body is large, and the natural change of the posture of the hand body when the hand body is opened and closed with fingers cannot be achieved;

(2) in order to overcome the defects of the frameworks, the frameworks made of metal materials are produced, but the frameworks made of metal materials generally need to be manufactured by opening a steel mould and then casting or using a high-precision CNC (computer numerical control) lathe in the processing process, so that the workpieces forming the frameworks are long in manufacturing time, complex in processing operation and high in manufacturing cost, the workpieces are long in assembly time when being assembled, the connection tightness of the workpieces is not easy to adjust, and certain influence is caused on the quality of finished products in the later period.

Disclosure of Invention

The invention aims to provide a bionic hand skeleton, which aims to solve the problems that the existing bionic hand skeleton in the background technology is high in manufacturing cost, long in assembly time when a workpiece is assembled, difficult to adjust the connection tightness degree of the workpiece and capable of affecting the quality of a finished product in the later period.

In order to achieve the purpose, the invention provides the following technical scheme: a bionic hand skeleton comprises a hand skeleton frame, wherein the hand skeleton frame consists of a palm skeleton and a finger skeleton, five protrusions are arranged at one end of the palm skeleton frame, a finger root joint mounting hole is formed in the surface of each protrusion, and a thumb skeleton, an index finger skeleton, a middle finger skeleton, a ring finger skeleton and a little finger skeleton which can be adjusted in angle are sequentially mounted in the five finger root joint mounting holes through finger root joints;

the thumb framework, the index finger framework, the middle finger framework, the ring finger framework and the little finger framework are all composed of a proximal phalanx, a middle phalanx and a distal phalanx, the proximal phalanx, the middle phalanx and the distal phalanx are all in a flat dumbbell shape, and the circular ends of the proximal phalanx, the middle phalanx and the distal phalanx are all provided with shaft holes for rotation and drawing to pass through.

As a preferred technical scheme of the invention, the phalangeal joint comprises a first connecting block arranged in parallel with the palm skeleton, one end of the first connecting block is provided with a second connecting block vertically and fixedly connected with the first connecting block, the first connecting block is rotatably connected with the phalangeal joint mounting hole through a through hole arranged in the middle part in a matching manner with the rotating shaft, and the second connecting block is rotatably connected with a shaft hole at one end of the proximal phalanx through a through hole arranged in the middle part in a matching manner with the rotating shaft.

As a preferable technical scheme of the invention, the shaft hole at the other end of the proximal phalanx is rotatably connected with the shaft hole at one end of the middle phalanx through a rotating shaft, the shaft hole at the other end of the middle phalanx is rotatably connected with the shaft hole at one end of the distal phalanx through a rotating shaft, and the shape of the distal phalanx is consistent with the shape of the knuckle.

As a preferable technical solution of the present invention, the length of the proximal phalanx is greater than the length of the middle phalanx, the length of the middle phalanx is greater than the length of the distal phalanx, and the proximal phalanx, the middle phalanx and the distal phalanx are all made of metal.

According to a preferred technical scheme, one end of the palm framework is located between two adjacent knuckle mounting holes and is provided with an inwards concave arc-shaped groove, and the other end of the palm framework is provided with a palm framework mounting clamp position.

As a preferred technical scheme of the invention, the middle part of the palm framework is provided with strip-shaped hollowed holes.

As a preferred embodiment of the present invention, a locking member is mounted at one end of the rotating shaft, the rotating shaft may be one of a pin, a rivet and a screw, and the locking member may be one of a locking ring and a nut.

As a preferable technical scheme of the invention, one side of the locking piece and one end of the rotating shaft are positioned on the same horizontal plane.

Compared with the prior art, the invention has the beneficial effects that: the bionic hand bone has the following beneficial effects:

1) the palm framework, the finger framework and the finger root joint can be processed by adopting a metal plate one-time punch forming, laser cutting or linear cutting mode, so that the manufacturing cost of the framework workpiece is reduced, the processing efficiency of the workpiece is improved, and the components adopt the processing mode, so that the size uniformity of batch workpieces during processing can be ensured, and the yield of finished products is improved;

2) each finger framework adopts a three-section rotatable finger framework structure, the fist making action of a human hand can be simulated, each finger framework is connected with the palm framework through a finger root joint, the opening and closing action between each finger of the human hand can be simulated, the advantage of multi-section rotation of the whole hand body is ensured, and the moving effect of the hand body is closer to that of the human hand;

3) between palm skeleton and the phalange joint, between phalange joint and the proximal phalange, between proximal phalange and the middle phalange, all adopt pivot cooperation retaining member to rotate between middle phalange and the distal phalange to be connected, the fixed elasticity degree through retaining member and pivot is adjusted, can be pertinence set for different finished products, make the smooth flexibility when finished product joint can accomplish to rotate, can ensure simultaneously that finished product finger activity can fix a position at any time, ensure that the hand can make the nature gesture of imitative people's hand, further improve finished product texture.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the palm skeleton structure of the present invention;

FIG. 3 is a schematic diagram of the thumb skeleton structure of the present invention;

fig. 4 is a schematic view of the structure of the finger root joint of the present invention.

In the figure: 1. a palm skeleton; 11. hollowing out holes; 12. a finger root joint mounting hole; 13. installing and clamping the metacarpal bones; 2. a finger skeleton; 21. a thumb skeleton; 22. a forefinger skeleton; 23. a middle finger skeleton; 24. a ring finger skeleton; 25. a little finger skeleton; 2a, proximal phalanx; 2b, middle phalanx; 2c, distal phalanx; 3. the finger root joint; 31. a first connection block; 32. a second connecting block; 4. and a locking member.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the invention provides a bionic hand skeleton, which comprises a hand skeleton framework, wherein the hand skeleton framework comprises a palm skeleton 1 and a finger skeleton 2, one end of the palm skeleton 1 is provided with five protrusions, the surface of each protrusion is provided with a finger joint mounting hole 12, and the five finger joint mounting holes 12 are sequentially provided with a thumb skeleton 21, an index finger skeleton 22, a middle finger skeleton 23, a ring finger skeleton 24 and a little finger skeleton 25 which can be adjusted in angle through a finger joint 3;

the thumb framework 21, the index finger framework 22, the middle finger framework 23, the ring finger framework 24 and the little finger framework 25 are all composed of a proximal phalanx 2a, a middle phalanx 2b and a distal phalanx 2c, the proximal phalanx 2a, the middle phalanx 2b and the distal phalanx 2c are all in a flat dumbbell shape, and the circular ends of the proximal phalanx 2a, the middle phalanx 2b and the distal phalanx 2c are all provided with shaft holes for rotary drawing to pass through.

Further, the phalangeal joint 3 includes the first connecting block 31 with palm skeleton 1 parallel arrangement, the one end of first connecting block 31 is equipped with rather than perpendicular fixed connection's second connecting block 32, through-hole cooperation pivot that first connecting block 31 was seted up through the middle part is rotated with phalangeal joint mounting hole 12 and is connected, through-hole cooperation pivot that second connecting block 32 was seted up through the middle part is rotated with the shaft hole of proximal phalanx 2a one end and is connected, make proximal phalanx 2a be connected with palm skeleton 1 through phalangeal joint 3, ensure that proximal phalanx 2a can carry out Z axial and X axial rotation.

Furthermore, the shaft hole at the other end of the proximal phalanx 2a is rotatably connected with the shaft hole at one end of the middle phalanx 2b through a rotating shaft, the shaft hole at the other end of the middle phalanx 2b is rotatably connected with the shaft hole at one end of the distal phalanx 2c through a rotating shaft, and the shape of the distal phalanx 2c is consistent with that of the knuckle joint 3, so that the proximal phalanx 2a, the middle phalanx 2b and the distal phalanx 2c can flexibly rotate, and the distal phalanx 2c in an S-shaped twisted shape can ensure the fullness of the silica gel body at the end part of the finger, so that the finger is closer to the shape of a human finger, and meanwhile, the shape of the silica gel body is consistent with that of the knuckle joint 3, so that the workpieces can be shared, the processing efficiency of the workpieces is improved, and the production cost of the bionic hand bones is reduced.

Furthermore, the length of the proximal phalanx 2a is greater than that of the middle phalanx 2b, the length of the middle phalanx 2b is greater than that of the distal phalanx 2c, and the proximal phalanx 2a, the middle phalanx 2b and the distal phalanx 2c are all made of metal materials, so that the assembled proximal phalanx 2a, the middle phalanx 2b and the distal phalanx 2c are ensured to be closer to the bone structure of the human hand.

Further, the arc wall that is equipped with the indent is all opened to the one end of palm skeleton 1 and is located between two adjacent finger joint mounting holes 12, and palm bone installation screens 13 has been seted up to the other end of palm skeleton 1, through the arc wall that is equipped with, can ensure that five finger skeleton 2 can horizontal smooth and easy movements.

Furthermore, the middle part of the palm framework 1 is provided with a strip-shaped hollow hole 11, so that the whole weight of the bionic hand framework is reduced, and meanwhile, the silica gel body can be better fixedly coated outside the palm framework 1.

Furthermore, a locking part 4 is installed at one end of the rotating shaft, the rotating shaft can be one of a pin, a rivet or a screw, the locking part 4 can be one of a locking ring and a nut, and the flexibility degree of rotation between the palm framework 1 and the phalangeal joint 3, between the phalangeal joint 3 and the proximal phalanx 2a, between the proximal phalanx 2a and the middle phalanx 2b, and between the middle phalanx 2b and the distal phalanx 2c is adjusted through the fixing tightness degree of the locking part 4 and the rotating shaft.

Furthermore, one side of retaining member 4 is in same horizontal plane with the one end of pivot, when preventing that the pivot from rotating, causes great wearing and tearing to the inboard of colloidal silica.

During specific production, metal plates (stainless steel, aluminum magnesium alloy and the like) with proper thickness and proper materials are selected, oil extraction stamping, laser cutting or linear cutting are carried out, the palm framework 1 is respectively processed, the hollowed holes 11, the phalanx mounting holes 12 and the metacarpal mounting clamping positions 13 are processed, then a punch press, laser cutting equipment or linear cutting equipment is utilized to process proximal phalanx 2a, middle phalanx 2b and distal phalanx 2c of the five phalanx frameworks 2 and shaft holes at the end of each phalanx, finally, the phalanx 3 is processed (the two parts of the phalanx 3 and the distal phalanx 2c can be used commonly), and through holes are respectively processed in the middle parts of the first connecting block 31 and the second connecting block 32.

During assembly, firstly, horizontally pasting a first connecting block 31 of five phalange joints 3 on five corresponding convex parts at one end of a palm framework 1, penetrating through a through hole of the first connecting block 31 by using a rotating shaft to be connected with a phalange joint mounting hole 12 of the palm framework 1 in an penetrating manner, completing the mounting of the phalange joints 3 and the palm framework 1, pasting a second connecting block 32 with one end of a corresponding proximal phalange 2a, penetrating through a through hole of the second connecting block 32 by using the rotating shaft to be connected with a shaft hole at one end of the proximal phalange 2a in an penetrating manner, completing the mounting of the phalange joints 3 and the proximal phalange 2a, pasting the other end of the proximal phalange 2a with one end of a middle phalange 2b, penetrating through a shaft hole at the other end of the proximal phalange 2a by using the rotating shaft to be connected with a shaft hole at one end of the middle phalange 2b in a penetrating manner, completing the mounting of the proximal phalange 2a and the middle phalange 2b, pasting the other end of the middle phalange 2b with one end of a distal phalange 2c, the rotating shaft penetrates through the shaft hole at the other end of the middle phalanx 2b and is connected with the shaft hole at one end of the distal phalanx 2c in a penetrating manner, so that the middle phalanx 2b and the distal phalanx 2c are installed, and finally the five-phalanx framework 2 and the corresponding phalanx joint 3 are installed.

And finally, a locking part 4 is arranged at one end of the rotating shaft, and the degree of flexibility during rotation between the palm framework 1 and the phalange joint 3, between the phalange joint 3 and the proximal phalange 2a, between the proximal phalange 2a and the middle phalange 2b and between the middle phalange 2b and the distal phalange 2c is adjusted through the fixing tightness degree of the locking part 4 and the rotating shaft.

When the palm skeleton installation clamp 13 is used specifically, the palm skeleton 1, the finger skeleton 2 and the finger root joint 3 which form the hand skeleton are installed and fixed in a matched mode with the arm skeleton, a layer of silica gel made of skin-like materials is coated on the palm skeleton 1, the finger skeleton 2 and the finger root joint 3, the appearance of the palm skeleton, the finger head skeleton and the finger root joint is made to be in a hand shape, and the S-shaped twisted far-knuckle phalanx 2c can ensure that finger tips are full and can be close to the appearance of hands of people; its every phalange of silica gel hand body of built-in skeleton all adopts the phalange structure of syllogic, and all rotate through the pivot between the every phalange that corresponds and connect, make every thumb all can rotate in a flexible way to palm portion, realize the action that the simulation staff held the fist, phalange skeleton 2 rotates with palm skeleton 1 through toe joint 3 and is connected, make the equal relative motion of every thumb, realize the action that the five fingers of simulation people opened and shut, ensure that whole hand body has multisection pivoted advantage, its movable effect more is close the movable effect of staff.

In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

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