CN210189826U - Bionic hand system - Google Patents
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- CN210189826U CN210189826U CN201920977104.6U CN201920977104U CN210189826U CN 210189826 U CN210189826 U CN 210189826U CN 201920977104 U CN201920977104 U CN 201920977104U CN 210189826 U CN210189826 U CN 210189826U
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Abstract
Embodiments of the present disclosure disclose a bionic hand system. The bionic hand system comprises a bionic hand assembly and a collection assembly; the bionic hand assembly comprises a bionic finger and a bionic palm which are connected, wherein a driving mechanism and a control panel are arranged in the bionic palm, the driving mechanism is connected with the control panel, and the driving mechanism drives the bionic finger and/or the bionic palm in the bionic hand assembly to act based on a driving control instruction of the control panel; the collection assembly is in communication connection with the control panel and is used for collecting physiological signals used for indicating actions of the bionic hand assembly by a user, converting the physiological signals into drive control instructions and sending the drive control instructions to the control panel. The embodiment realizes the reduction of the coupling degree between the bionic hand assembly and the acquisition assembly, and is convenient for the maintenance work of a single module.
Description
Technical Field
The embodiment of the application relates to the technical field of manipulators, in particular to a bionic hand system.
Background
With the continuous development of modern science and technology and the popularization of robots, robots increasingly participate in human production and life, and the robots are used in many fields in the future.
The bionic mechanical hand can enable a user to smoothly carry out fine actions such as unlocking, inputting passwords, opening the pop-top can and the like, and is as flexible as a real hand.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a bionic hand system.
In a first aspect, an embodiment of the present application provides a bionic hand system, including: the bionic hand assembly comprises a bionic finger and a bionic palm which are connected, a driving mechanism and a control panel are arranged in the bionic palm, the driving mechanism is connected with the control panel, and the driving mechanism drives the bionic finger and/or the bionic palm in the bionic hand assembly to move based on a driving control instruction of the control panel; the acquisition assembly is in communication connection with the control panel and is used for acquiring physiological signals used for indicating actions of the bionic hand assembly by a user, converting the physiological signals into drive control instructions and sending the drive control instructions to the control panel.
In some embodiments, a first communication module is further arranged in the bionic palm, and the first communication module is in communication connection with the control panel; and the collection assembly comprises: the system comprises an acquisition sensor, an acquisition circuit board, a first central control board and a second communication module, wherein the first communication module is connected with the second communication module; the acquisition sensor, the first central control board and the second communication module are installed on the acquisition circuit board, the acquisition sensor is used for acquiring physiological signals and sending the physiological signals to the first central control board, and the first central control board is used for converting the physiological signals into drive control instructions and sending the drive control instructions to the control board through the first communication module and the second communication module.
In some embodiments, the bionic hand assembly further comprises: and the second central control board is connected with the first central control board and the control board and used for receiving and storing the drive control instruction from the first communication module and sending the drive control instruction to the control board.
In some embodiments, the collection assembly further comprises: the first power supply protection module is arranged on the acquisition circuit board and used for providing voltage stabilization protection for a power supply supplying power to the acquisition assembly; and/or the bionic hand assembly further comprises: and the second power protection module is arranged on the control panel and used for providing voltage stabilization protection for the power supply supplying power to the bionic hand assembly.
In some embodiments, the bionic hand assembly further comprises: the simulation module is in communication connection with the driving mechanism and is used for performing three-dimensional modeling on the bionic hand assembly to obtain a bionic hand model, performing action adjustment on the bionic hand model according to action parameters input by a user and sending the action parameters to the driving mechanism so that the driving mechanism controls the action of the bionic hand assembly according to the action parameters; the data storage module is connected with the simulation module and used for storing the action parameters in the simulation module.
In some embodiments, the system further comprises: and the human-computer interaction component is in communication connection with the simulation module and is used for presenting the bionic hand model to a user and receiving an instruction which is input by the user and is used for adjusting the action state of the bionic hand component.
In some embodiments, the human-computer interaction component comprises: a display component and an input component.
In some embodiments, the biomimetic finger comprises: the finger joints of the bendable joint group are connected through a first connecting piece; and/or the bionic finger is connected with the bionic palm through a second connecting piece.
In some embodiments, the first connector comprises at least one of: a link mechanism and a worm and gear mechanism.
In some embodiments, the bionic hand assembly further comprises: the bionic wrist is connected with the bionic palm, and the wrist interface piece is installed on the bionic wrist and used for connecting the mechanical arm or the bionic arm.
In some embodiments, the wrist interface comprises at least one of: a clamp spring and a flange.
The bionic hand system provided by the embodiment of the application can comprise a bionic hand assembly and a collection assembly. The bionic hand assembly comprises a bionic finger and a bionic palm which are connected, wherein a driving mechanism and a control panel are arranged in the bionic palm, the driving mechanism is connected with the control panel, and the driving mechanism drives the bionic finger and/or the bionic palm in the bionic hand assembly to act based on a driving control instruction of the control panel. The collection assembly is in communication connection with the control board and is used for collecting physiological signals used for indicating the actions of the bionic hand assembly by a user, converting the physiological signals into drive control instructions and sending the drive control instructions to the control board. Because the bionic hand assembly and the acquisition assembly are designed as independent modules respectively, the bionic hand assembly and the acquisition assembly can be connected in a wired or wireless communication mode, and a control panel is arranged in the bionic hand assembly, so that an external additional controller is not needed, the coupling degree between the bionic hand assembly and the acquisition assembly is reduced, and the maintenance work of a single module is facilitated.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic block diagram of one embodiment of a bionic hand system provided herein;
FIG. 2 is a schematic structural diagram of a biomimetic hand assembly of the biomimetic hand system provided herein;
FIG. 3 is a schematic structural view of a collection assembly of the biomimetic hand system provided herein;
FIG. 4 is a schematic structural diagram of another embodiment of a bionic hand system provided herein;
reference numerals: 1-bionic hand component, 11-bionic finger, 111-joint group, 112-finger joint, 113-first connecting piece, 12-bionic palm, 121-driving mechanism, 122-control board, 123-first communication module, 13-second central control board, 14-second power protection module, 15-simulation module, 16-data storage module, 17-bionic wrist, 18-wrist interface piece; 2-acquisition assembly, 21-acquisition sensor, 22-acquisition circuit board, 23-first central control board, 24-second communication module, 25-first power protection module; 3-a power supply; 4-human-computer interaction component.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the invention. It should be noted that, for convenience of description, only the relevant portions of the related inventions are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Please refer to fig. 1, which shows a schematic structural diagram of an embodiment of the bionic hand system provided by the present application. As shown in fig. 1, the bionic hand system in the present embodiment includes a bionic hand assembly 1 and a collection assembly 2.
The bionic hand system comprises a bionic hand assembly 1 and a collection assembly 2. As shown in fig. 1, the bionic hand assembly 1 includes a bionic finger 11 and a bionic palm 12 connected with each other. The bionic palm 12 is provided therein with a drive mechanism 121 and a control panel 122. The driving mechanism 121 is connected to the control board 122. The driving mechanism 121 drives the bionic finger 11 and/or the bionic palm 12 in the bionic hand assembly 1 to move based on the driving control instruction of the control board 122. The acquisition assembly 2 is communicatively connected to a control panel 122. The collecting component 2 is used for collecting physiological signals used by a user for indicating the actions of the bionic hand component 1, converting the physiological signals into the driving control instructions and sending the driving control instructions to the control board 122.
In the present embodiment, the bionic finger 11 and the bionic palm 12 are connected. The biomimetic fingers 11 may comprise five biomimetic fingers. Each bionic finger 11 is provided with a knuckle.
And a driving mechanism 121 disposed in the bionic palm 12. The driving method of the driving mechanism 121 may be a motor driving method, a hydraulic driving method, or a pneumatic driving method, which is not limited in this embodiment. The drive mechanism 121 is, for example, a motor. The motor and control board 122 may communicate by way of a wired connection. The control board 122 may send a driving control command to the motor to rotate the motor to drive the bionic finger 11 and/or the bionic palm 12 to move.
And a control panel 122 disposed in the bionic palm 12. The control board 122 generally includes a front panel, a main control board, and a driving board. The control board 122 may be understood as a "brain" of a bionic hand system, and is in communication connection with the driving mechanism 121, and sends a driving control instruction to the driving mechanism 121 and receives state information fed back by the driving mechanism 121, so as to implement closed-loop control on the driving mechanism 121.
And the acquisition assembly 2 is in communication connection with the control panel 122. The acquisition assembly 2 can be worn on a user and can acquire physiological signals of the user for indicating the actions of the bionic hand assembly 1. Then, the collection assembly 2 converts the collected physiological signals into driving control instructions and transmits the driving control instructions to the control board 122.
The physiological signal herein may include, but is not limited to, at least one of the following: electroencephalogram signals, electromyogram signals, and electrocardiosignals. The collecting component 2 may be, for example, a brain electrical cap worn on the head of the user, or a myoelectrical collecting component 2 worn on the arm of the user as shown in fig. 3, or an electrocardiograph, and the embodiment is not limited thereto
For ease of understanding, the working process of the bionic hand system of the present embodiment can be explained as follows: the acquisition component 2 acquires physiological signals used by a user for indicating the actions of the bionic hand component 1. Then, the acquisition assembly 2 converts the acquired physiological signal into a driving control command, and sends the driving control command to the control board 122 in the bionic hand assembly 1. After receiving the driving control command, the control board 122 may control the driving mechanism to move according to the driving control command, and the driving mechanism drives the bionic finger 11 and/or the bionic palm 12 in the bionic hand assembly 1 to move.
As an example, in some alternative implementations of the present embodiment, as shown in fig. 2, the bionic hand assembly 1 may include a bionic finger 11 and a bionic palm 12 connected. The biomimetic finger 11 may also include a bendable joint set 111. The flexible joint group 111 is connected to the drive mechanism 121, and the finger joints 112 of the joint group 111 are connected to each other by a first connecting member 113. The bendable joint group 111 is generally referred to as a finger, and the knuckles 112 thereof are connected by a first connecting member 113. The first connecting member 113 may include a link mechanism and may also include a worm gear mechanism. The bionic finger 11 can be connected with the bionic palm 12 through a second connecting piece. The second connecting member may be the same as or different from the first connecting member, for example, the second connecting member may also be a link mechanism, or may also be a worm and gear mechanism, and the embodiment is not limited thereto.
In the bionic hand system of the present embodiment, the driving mechanism 121 and the control board 122 are provided in the bionic palm 12 of the bionic hand assembly 1. The acquisition component 2 is used for acquiring a physiological signal used by a user for indicating the actions of the bionic hand component 1, and then converting the physiological signal into a driving control instruction and sending the driving control instruction to the control board 122. The control board 122 controls the driving mechanism 121 according to the driving control command to drive the motion of the bionic hand assembly 1. In the bionic hand system of the embodiment, the bionic hand assembly 1 and the acquisition assembly 2 are designed as independent modules respectively, and can be connected in a wired or wireless communication mode. And, be provided with control panel 122 in the bionic hand subassembly 1, need not external other controller, the hardware integrated level is high to reduced the coupling degree between bionic hand subassembly 1 and the collection subassembly 2, be convenient for maintain single module work.
A schematic structural diagram of another embodiment of the bionic hand system provided by the present application is described below with reference to fig. 4. As shown in fig. 4, the bionic hand system comprises a bionic hand assembly 1 and an acquisition assembly 2, wherein a first communication module 123 is further arranged in the bionic palm 12 of the bionic hand assembly 1.
As shown in fig. 4, the bionic hand system includes a bionic hand assembly 1 and a collection assembly 2. The bionic hand assembly 1 comprises a bionic finger 11 and a bionic palm 12 which are connected. The bionic palm 12 is provided therein with a drive mechanism 121 and a control panel 122. The driving mechanism 121 is connected to the control board 122. The driving mechanism 121 drives the bionic finger 11 and/or the bionic palm 12 in the bionic hand assembly 1 to move based on the driving control instruction of the control board 122. The acquisition assembly 2 is communicatively connected to a control panel 122. The collecting component 2 is used for collecting physiological signals used by a user for indicating the actions of the bionic hand component 1, converting the physiological signals into the driving control instructions and sending the driving control instructions to the control board 122. A first communication module 123 is also provided in the bionic palm 12. The first communication module 123 is communicatively connected to the control board 122. The acquisition assembly 2 includes an acquisition sensor 21, an acquisition circuit board 22, a first center control board 23, and a second communication module 24. Wherein the first communication module 123 and the second communication module 24 are connected. The acquisition sensor 21, the first central control board 23 and the second communication module 24 are mounted on the acquisition circuit board 22, the acquisition sensor 21 is used for acquiring physiological signals and sending the physiological signals to the first central control board 23, the first central control board 23 is used for converting the physiological signals into driving control instructions and sending the driving control instructions to the control board 122 through the first communication module 123 and the second communication module 24.
Unlike in fig. 1, the bionic hand system in fig. 4 further has a first communication module 123 provided therein the bionic palm 12. The acquisition assembly 2 includes an acquisition sensor 21, an acquisition circuit board 22, a first center control board 23, and a second communication module 24.
And the first communication module 123 is arranged in the bionic palm 12. The first communication module 123 may be mounted on the control board 122 or may be a separate communication device. The first communication module 123 may be, for example, a bluetooth module, and may also be a WIFI module.
And the acquisition sensor 21 is installed on the acquisition circuit board 22. The acquisition sensor 21 may be a sensor for acquiring physiological signals such as electroencephalogram signals, electromyogram signals, or electrocardiograph signals.
The acquisition circuit board 22 may be separated from the dummy hand assembly 1 as a separate module.
And a first central control board 23 mounted on the acquisition circuit board 22. After the physiological signal is collected by the collection sensor 21, the physiological signal can be sent to the first central control board 23. The first console 23 can receive the physiological signal, store the physiological signal, process and identify the physiological signal by the existing signal analysis method, so as to convert the physiological signal into a driving control command, thereby achieving the purpose of identifying the user's intention.
And the second communication module 24 is arranged on the acquisition circuit board 22. The second communication module 24 is in communication connection with the first communication module 123, so that the driving control instruction generated by the first central control board 23 can be wirelessly transmitted to the control board 122 in the bionic hand assembly 1. The second communication module 24 may be, for example, a bluetooth module, and may also be a WIFI module.
In some optional implementations of the present embodiment, the bionic hand assembly of the present embodiment further includes a second center control panel 13. The second center control panel 13 can be communicatively coupled to the first center control panel 23. The first center control board 23 may transmit the driving control command to the second center control board 13 after converting the physiological signal into the driving control command. Then, the second center control board 13 sends the driving control instruction to the control board 122, so that the control board 122 controls the bionic finger 11 and/or the bionic palm 12 in the bionic hand assembly 1 to act according to the driving control instruction.
In some optional implementations of the present embodiment, the acquisition assembly 2 in the bionic hand system of the present embodiment may further include a first power protection module 25. The first power protection module 25 is mounted on the acquisition circuit board 22 and is configured to provide voltage modulation, voltage stabilization, or overcurrent protection for the power supply 3 that supplies power to the acquisition assembly 2. In this implementation, the bionic hand assembly 1 may further comprise a second power protection module 14. The second power protection module 14 is mounted on the control board 122 for providing voltage modulation, voltage stabilization or overcurrent protection and the like for the power supply 3 supplying power to the bionic hand assembly 1. It should be noted that the acquisition component 2 and the bionic hand component 1 may share one power supply module, or may use one power supply module respectively, and this implementation manner is not limited thereto.
In some optional implementations of the present embodiment, the bionic hand assembly 1 of the present embodiment may further include a simulation module 15 and a data storage module 16. The simulation module 15 is in communication connection with the driving mechanism 121, and is configured to perform three-dimensional modeling on the bionic hand assembly 1 to obtain a bionic hand model, perform motion adjustment on the bionic hand model according to motion parameters input by a user, and send the motion parameters to the driving mechanism 121, so that the driving mechanism 121 controls the motion of the bionic hand assembly 1 according to the motion parameters. The data storage module 16 is connected to the simulation module 15 and is used for storing the action parameters in the simulation module 15.
The simulation module 15 may be, for example, simulation software installed on a computer communicatively connected to the bionic hand assembly 1. The user can use the simulation software to carry out three-dimensional modeling on the bionic hand assembly 1 to obtain a bionic hand model. The user may then enter motion parameters on the simulation software that adjust the simulated hand model motion. Since the simulation module is in communication connection with the bionic hand assembly 1, the simulation module can send the motion parameters to the control board 122, so that the control board 122 can control the motion of the bionic hand assembly 1 according to the motion parameters.
The data storage module 16 is connected to the simulation module 15 and stores the operation parameters in the simulation module 15. The data storage module 16 stores the motion parameters in the simulation module 15 so as to store the motion parameters simulating various postures of the hand assembly 1. For example, the user may input parameters for the bionic hand model to implement actions such as grabbing and releasing actions in the simulation module 15, and then store the parameters in the data storage module 16 according to the action content classification, so as to facilitate the control board 122 to call the motion parameters for implementing the actions to control the bionic hand assembly 1.
In some optional implementations of the present embodiment, the bionic hand system further comprises a human-computer interaction component 4. The human-computer interaction assembly 4 is in communication with the simulation module 15 for displaying the simulated hand model and receiving user-input instructions for adjusting the motion state of the simulated hand assembly 1.
The human-machine interaction component 4 here may comprise, for example, a display component and an input component. As an example, the human-machine interaction component 4 here may be a touch screen. The touch screen can be used as a display component and an input component. The touch screen is in communication with the simulation module 15. The simulation module 15 displays the generated bionic hand model through a touch screen. The user can also adjust the action parameters of the bionic hand model through the touch screen. As another example, the human-computer interaction component 4 may also include a projection screen, a keyboard, a mouse. The projection screen herein may serve as a display assembly. The keyboard and the mouse can be used as an input component for receiving action parameters input by a user.
In some alternative implementations of the present embodiment, the biomimetic hand assembly 1 may also include a biomimetic wrist 17 and a wrist interface 18. Wherein the bionic wrist 17 is connected with the bionic palm 12. The wrist interface 18 is mounted on the bionic wrist 17 and used for connecting a mechanical arm or a bionic arm. The wrist interface 18 herein may include, but is not limited to, at least one of the following: a clamp spring and a flange. The wrist interface 18 may also pass power and ground wires to the second power protection module 14.
In the bionic hand system of the present embodiment, the first communication module 123 is disposed in the bionic palm 12. The second communication module 24 is arranged in the acquisition assembly 2, so that the acquisition assembly 2 and the bionic hand assembly 1 can transmit information in a wireless communication mode, and the coupling degree between the acquisition assembly 2 and the bionic hand assembly 1 is reduced. In addition, the simulation module 15 is communicatively connected to the control board 122. The simulation module 15 may perform three-dimensional modeling of the biomimetic hand assembly 1 to obtain a biomimetic hand model. The bionic hand model is adjusted according to the motion parameters input by the user, and the motion parameters are sent to the control board 122, so that the control board 122 controls the motion of the bionic hand assembly 1 according to the motion parameters. The data storage module 16 may store the action parameters in the simulation module. Thereby facilitating remote or process implementation of adjustment of the motion state of the bionic hand assembly 1, and the control board 122 can call the motion parameters stored in the data storage module 16 at any time.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of features described above or equivalents thereof without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (11)
1. A biomimetic hand system, comprising: a bionic hand component (1) and a collection component (2),
the bionic hand assembly (1) comprises bionic fingers (11) and a bionic palm (12) which are connected, a driving mechanism (121) and a control panel (122) are arranged in the bionic palm (12), the driving mechanism (121) is connected with the control panel (122), and the driving mechanism (121) drives the bionic fingers (11) and/or the bionic palm (12) in the bionic hand assembly (1) to act based on a driving control instruction of the control panel (122);
gather subassembly (2) communication connection control panel (122), gather subassembly (2) and be used for gathering the user and be used for instructing the physiological signal of imitative hand subassembly (1) action, and will physiological signal converts into drive control instruction, and will drive control instruction send to control panel (122).
2. The system according to claim 1, wherein a first communication module (123) is further disposed in the bionic palm (12), and the first communication module (123) is in communication connection with the control board (122); and
the acquisition assembly (2) comprises: the system comprises an acquisition sensor (21), an acquisition circuit board (22), a first central control board (23) and a second communication module (24), wherein the first communication module (123) is connected with the second communication module (24);
the acquisition sensor (21), first well accuse board (23) with second communication module (24) are installed gather on circuit board (22), acquisition sensor (21) are used for gathering physiological signal, and will physiological signal send to first well accuse board (23), first well accuse board (23) are used for with physiological signal converts into drive control instruction, and pass through first communication module (123) with second communication module (24) will drive control instruction send to control panel (122).
3. The system according to claim 2, wherein the bionic hand assembly (1) further comprises: the second central control board (13) is connected with the first central control board (23) and the control board (122) and used for receiving and storing the driving control instruction from the first communication module (123) and sending the driving control instruction to the control board (122).
4. The system of claim 2,
the acquisition assembly (2) further comprises: the first power supply protection module (25) is arranged on the acquisition circuit board (22) and is used for providing voltage stabilization protection for a power supply (3) supplying power to the acquisition assembly (2); and/or
The bionic hand assembly (1) further comprises: the second power protection module (14) is installed on the control panel (122) and used for providing voltage stabilization protection for a power supply (3) supplying power to the bionic hand assembly (1).
5. The system according to claim 1, wherein the bionic hand assembly (1) further comprises: a simulation module (15) and a data storage module (16),
the simulation module (15) is in communication connection with the driving mechanism (121) and is used for performing three-dimensional modeling on the bionic hand assembly (1) to obtain a bionic hand model, performing action adjustment on the bionic hand model according to action parameters input by a user, and sending the action parameters to the driving mechanism (121) so that the driving mechanism (121) controls the action of the bionic hand assembly (1) according to the action parameters;
the data storage module (16) is connected with the simulation module (15) and is used for storing the action parameters in the simulation module (15).
6. The system of claim 5, further comprising:
the human-computer interaction component (4) is in communication connection with the simulation module (15) and is used for presenting the bionic hand model to a user and receiving instructions input by the user and used for adjusting the action state of the bionic hand component (1).
7. System according to claim 6, characterized in that said human-machine interaction component (4) comprises: a display component and an input component.
8. The system according to claim 1, characterized in that said biomimetic finger (11) comprises: the bendable joint group (111), finger joints (112) of the joint group (111) are connected through a first connecting piece (113); and/or
The bionic finger (11) is connected with the bionic palm (12) through a second connecting piece.
9. The system of claim 8, wherein the first connector (113) comprises at least one of: a link mechanism, a worm and gear mechanism; and/or
The second connector comprises at least one of: a link mechanism and a worm and gear mechanism.
10. The system according to claim 1, wherein the bionic hand assembly (1) further comprises: a bionic wrist (17) and a wrist interface piece (18),
the bionic wrist (17) is connected with the bionic palm (12), and the wrist interface piece (18) is installed on the bionic wrist (17) and used for connecting a mechanical arm or a bionic arm.
11. The system of claim 10, wherein the wrist interface (18) comprises at least one of: a clamp spring and a flange.
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| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
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| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
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