CN100522107C - Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand - Google Patents
Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand Download PDFInfo
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- CN100522107C CN100522107C CNB2007100721698A CN200710072169A CN100522107C CN 100522107 C CN100522107 C CN 100522107C CN B2007100721698 A CNB2007100721698 A CN B2007100721698A CN 200710072169 A CN200710072169 A CN 200710072169A CN 100522107 C CN100522107 C CN 100522107C
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- backing pin
- torsion spring
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Abstract
An under-actuated drive adaptive tridactyl linkage mechanism for the handicapped to use the artificial hand, relates to an impersonating manipulator device. The invention solves the problems that, the existing under-actuated drive adaptive artificial hand device can not keep the grabbing state under the condition of loss of power, for the finger and the whole hand can not keep good shape and is difficult to harmonize under the free state. The middle finger driving torsion spring (12) is mounted on the middle finger spring bracket (22), and the middle finger sensor stop pin (27) is fixed on the gamp gear (8) and the gear blocking sleeve (10), while the ring finger driving torsion spring (19) is mounted on the ring finger spring bracket (18), and the ring finger sensor stop pin (25) is arranged on the ring finger spring bracket (18); the little finger driving torsion spring (16) is disposed on the little finger spring bracket (15), and the little finger sensor stop pin (23) is positioned on the little finger spring bracket (15). The invention has the advantages of good movement coordination, stable grab, wide range for grabbing the bending state of the three fingers, and can keep larger grabbing force under the loss of power state.
Description
Technical field
The present invention relates to a kind of anthropomorphic manipulator device, be specifically related to a kind of under-driven adaptive of doing evil through another person for disabled persons three and refer to link gear.
Background technology
For disabled persons do evil through another person to adopt owe to drive and adaptive mechanism, realize that three fingers (middle finger, the third finger, little finger of toe) under the driving of a motor, finish the self-adapting grasping to object.Existing under-driven adaptive prosthetic hand device (number of patent application is 200610009677.7), with three fingers of 1 driver drives, these three fingers can grasp the object of different shape adaptively simultaneously.The basic joint of three fingers is installed on the same driving shaft by torsion spring, drive 3 finger motions by motor and deceleration system by torsion spring, when some fingers run into the object stop motion, do not influence the motion of other fingers, thereby realize by the adaptivity of grasping body form.In the middle of three fingers, little finger of toe has only two dactylus, and is different with the staff practical situation.The direct current generator that three drivings that refer to are adopted under power failure state, does not have reverse holding torque, under external force, can not keep the grasping state, grabs incessantly object.In addition, driving torsion spring does not have the pretension angle, so there is not power, thereby causes being connected between middle finger and little finger of toe and whole finger not have solid shape, under the external force or the effect of self gravitation, is easy to be out of shape, and can not keep the pose of hands.It is harmonious like that at grasping object time image staff simultaneously also to cannot say for sure to demonstrate,prove three fingers.
Summary of the invention
The present invention can not keep the grasping state in order to solve existing under-driven adaptive prosthetic hand device after grasping object under the power failure state, grabs unstable object; Under free state, finger and whole hands are difficult to harmonious problem in the time of can not well keeping shape and motion, and then provide a kind of under-driven adaptive of doing evil through another person for disabled persons three to refer to link gear.
Technical scheme of the present invention is: the under-driven adaptive of doing evil through another person three for disabled persons refers to that link gear comprises that motor, decelerator, motor cabinet, three refer to pedestal, three spindles, middle finger drive mechanism, nameless drive mechanism and little finger of toe drive mechanism; Described middle finger drive mechanism drives torsion spring, middle finger spring support, the middle finger first driving torsion spring backing pin, the middle finger second driving torsion spring backing pin and middle finger pick off backing pin by cone pinion, large bevel gear, gear interstage sleeve, middle finger torque sensor, middle finger and forms; Described nameless drive mechanism drives torsion spring, nameless spring support, the nameless first driving torsion spring backing pin, the nameless second driving torsion spring backing pin and nameless pick off backing pin by nameless torque sensor, the third finger and forms; Described little finger of toe drive mechanism drives torsion spring, little finger of toe spring support, the little finger of toe first driving torsion spring backing pin, the little finger of toe second driving torsion spring backing pin and little finger of toe pick off backing pin by little finger of toe torque sensor, little finger of toe and forms;
Described motor is connected with decelerator, decelerator is fixed on the motor cabinet, motor cabinet is installed in three and refers on the pedestal, cone pinion is installed on the output shaft of upper end of decelerator, cone pinion and large bevel gear engagement, three spindles are contained in three and refer to that the gear interstage sleeve is contained in the intracavity of large bevel gear on the pedestal, and the gear interstage sleeve is enclosed within on three spindles; Middle finger torque sensor and middle finger spring support are installed on three spindles successively, middle finger drives torsion spring and is installed on the middle finger spring support, on the middle finger torque sensor, be provided with middle finger first and drive the torsion spring backing pin, the middle finger spring support is provided with middle finger second and drives the torsion spring backing pin, middle finger pick off backing pin is fixed on large bevel gear and the gear interstage sleeve, and middle finger pick off backing pin is positioned at the front of middle finger moment sensing; Described nameless torque sensor and nameless spring support are installed on three spindles successively, the nameless torsion spring that drives is installed on the nameless spring support, nameless spring support is provided with nameless first and drives the torsion spring backing pin, nameless torque sensor is provided with nameless second and drives the torsion spring backing pin, nameless pick off backing pin is located on the nameless spring support, and nameless pick off backing pin is positioned at the front of nameless torque sensor; Described little finger of toe torque sensor and little finger of toe spring support are installed on three spindles successively, little finger of toe drives torsion spring and is installed on the little finger of toe spring support, the little finger of toe spring support is provided with little finger of toe first and drives the torsion spring backing pin, the little finger of toe torque sensor is provided with little finger of toe second and drives the torsion spring backing pin, little finger of toe pick off backing pin is located on the little finger of toe spring support, and little finger of toe pick off backing pin is positioned at little finger of toe torque sensor front; Described motor is a motor, and described middle finger torque sensor, nameless torque sensor, little finger of toe torque sensor and three spindles are matched in clearance.
The present invention has following beneficial effect: the present invention can realize the interlock of three fingers by the driving of a motor, three refer to that the sports coordination when bending is good, can guarantee to act in agreement, and has the grasp adaptivity, when promptly a finger is blocked therein, other fingers can continue motion within the specific limits, so can adapt to the shape of object more, reach complete envelope object, grasping is stable, can grasp difform object, and the scope of extracting is wide, under power failure state, also can keep bigger grip.Simultaneously in shape more near staff, and the rigidity of finger increases, and is loosening and tremble before and after not understanding, during motion three refer to more harmonious.Advantage simple in structure, in light weight, that volume is little, grasp force is big that the present invention also has.
Description of drawings
Fig. 1 is the integrally-built front view of the present invention (back sides of the three finger link gears of doing evil through another person), Fig. 2 is that rearview (fronts of the three finger link gears of doing evil through another person) Fig. 3 of Fig. 1 is little finger of toe spring support 15 and three spindles, 9 mounting structure cutaway views, Fig. 4 is little finger of toe torque sensor 17 and three spindles, 9 mounting structure cutaway views, and Fig. 5 is the cutaway view of Fig. 1.
The specific embodiment
The specific embodiment one: as shown in Figure 1 and Figure 2, under-driven adaptive of the doing evil through another person for disabled persons three finger link gears of present embodiment are made up of motor 1, decelerator 2, motor cabinet 3, three finger pedestals 6, three spindles 9, middle finger drive mechanism, nameless drive mechanism and little finger of toe drive mechanism; Described middle finger drive mechanism drives torsion spring 12, middle finger spring support 22, the middle finger first driving torsion spring backing pin 11, the middle finger second driving torsion spring backing pin 26 and middle finger pick off backing pin 27 by cone pinion 5, large bevel gear 8, gear interstage sleeve 10, middle finger torque sensor 7, middle finger and forms; Described nameless drive mechanism drives torsion spring 19, nameless spring support 18, the nameless first driving torsion spring backing pin 13, the nameless second driving torsion spring backing pin 20 and nameless pick off backing pin 25 by nameless torque sensor 21, the third finger and forms; Described little finger of toe drive mechanism drives torsion spring 16, little finger of toe spring support 15, the little finger of toe first driving torsion spring backing pin 14, the little finger of toe second driving torsion spring backing pin 24 and little finger of toe pick off backing pin 23 by little finger of toe torque sensor 17, little finger of toe and forms;
Described motor 1 is connected with decelerator 2, decelerator 2 is fixed on the motor cabinet 3, motor cabinet 3 is installed in three and refers on the pedestal 6, cone pinion 5 is installed on the output shaft of upper end of decelerator 2, cone pinion 5 and large bevel gear 8 engagements, three spindles 9 are contained in three and refer to that gear interstage sleeve 10 is contained in the intracavity of large bevel gear 8 on the pedestal 6, and gear interstage sleeve 10 is enclosed within on three spindles 9; Middle finger torque sensor 7 and middle finger spring support 22 are installed on three spindles 9 successively, middle finger drives torsion spring 12 and is installed on the middle finger spring support 22, on middle finger torque sensor 7, be provided with middle finger first and drive torsion spring backing pin 11, middle finger spring support 22 is provided with middle finger second and drives torsion spring backing pin 26, middle finger pick off backing pin 27 is fixed on large bevel gear 8 and the gear interstage sleeve 10, and middle finger pick off backing pin 27 is positioned at the front of middle finger moment sensing 7; Described nameless torque sensor 21 and nameless spring support 18 are installed on three spindles 9 successively, the nameless torsion spring 19 that drives is installed on the nameless spring support 18, on nameless spring support 18, be provided with nameless first and drive torsion spring backing pin 13, nameless torque sensor 21 is provided with nameless second and drives torsion spring backing pin 20, nameless pick off backing pin 25 is located on the nameless spring support 18, and nameless pick off backing pin 25 is positioned at the front of nameless torque sensor 21; Described little finger of toe torque sensor 17 and little finger of toe spring support 15 are installed on three spindles 9 successively, little finger of toe drives torsion spring 16 and is installed on the little finger of toe spring support 15, little finger of toe spring support 15 is provided with little finger of toe first and drives torsion spring backing pin 14, little finger of toe torque sensor 17 is provided with little finger of toe second and drives torsion spring backing pin 24, little finger of toe pick off backing pin 23 is located on the little finger of toe spring support 15, and little finger of toe pick off backing pin 23 is positioned at little finger of toe torque sensor 17 fronts.The resistance strain gage of the torque sensor of present embodiment adopts miniature high-resistance metal foil gauge SR-4 that German BLH company produces as sensing element.The motor 1 of present embodiment and the manufacturer of decelerator 2 are Portestcap company.
The specific embodiment two: as shown in Figure 1, the motor 1 of present embodiment is a motor.Because motor has reverse holding torque, when dead electricity, can keep the grasping state.Other composition and annexation are identical with the specific embodiment one.The model that the motor of present embodiment adopts Portestcap company to produce is a P110-06-2.5 two-phase permanent magnet motor.
The specific embodiment three: as shown in Figure 1 and Figure 2, the middle finger torque sensor 7 of present embodiment, nameless torque sensor 21, little finger of toe torque sensor 17 and three spindles 9 are matched in clearance.Adopt such structure, middle finger torque sensor 7, nameless torque sensor 21, little finger of toe torque sensor 17 not exclusively are synchronized with the movement with three spindles 9, realize that three refer to the grasping adaptivity to different objects.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: as Fig. 1～shown in Figure 4, three spindles 9 of present embodiment are flat axles; The flat hole that described middle finger spring support 22, nameless spring support 18, little finger of toe spring support 15 are provided with cooperates with three spindles, 9 flat holes successively; Flat hole connects between the flat Kong Yusan spindle 9 on the described gear interstage sleeve 10, also is that flat hole is connected between the flat hole on described gear interstage sleeve 10 and the large bevel gear 8.Adopt such structure, can better transmit moment of torsion.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: as shown in Figure 1, present embodiment also comprises motor adjustment pad 4, and described motor is adjusted pad 4 and is arranged between motor cabinet 3 and the three finger pedestals 6.Adopt such structure, be used for adjusting motor cabinet 3 and three gaps that refer between the pedestal 6.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment six: as shown in Figure 5, present embodiment also comprises bearing 28, and described bearing 28 is installed in three and refers between pedestal 6 and three spindles 9.Adopt such structure, can effectively reduce friction.Other composition and annexation are identical with the specific embodiment one.
Operation principle: motor 1 output is slowed down through decelerator 2, passes to cone pinion 5, gives large bevel gear 8 from Motion Transmission, and large bevel gear 8 and chamfered edge three spindles 9 cooperate, and drive 9 motions of three spindles.Middle finger torque sensor 7, nameless torque sensor 21, little finger of toe torque sensor 17 and three spindles, 9 flat holes cooperate, drive torsion spring 12, nameless driving torsion spring 19 and little finger of toe driving torsion spring 16 by middle finger and promote middle finger torque sensor 7, nameless torque sensor 21 and 17 motions of little finger of toe torque sensor simultaneously, thereby drive the coordination exercise of three fingers, the envelope object grasps object.Middle finger first drives torsion spring backing pin 11 and middle finger second drives torsion spring backing pin 26, nameless first driving torsion spring backing pin 13 and the third finger second driving torsion spring backing pin 20 and the little finger of toe first driving torsion spring backing pin 14 drive torsion spring backing pin 24 with little finger of toe second and have guaranteed that each driving torsion spring of three fingers has identical pretension angle, guarantee that three refer to can not become flexible backward and tremble, also guaranteed three sports coordination that refer to when bending simultaneously; Middle finger pick off backing pin 27, nameless pick off backing pin 25 and little finger of toe pick off backing pin 23 withstand on the front of middle finger pick off 7, nameless pick off 21 and little finger of toe pick off 17 respectively, guarantee that three refer to can not become flexible forward and tremble, also guaranteed three harmony that refer to when stretching motion simultaneously.Thereby three rigidity and the sports coordination that refer to have been guaranteed.Three refer to when grasping the complicated shape object, if after one of them finger touched object earlier, motor still can continue to rotate forward, reaches its maximum functional angle until this finger actuation torsion spring and stops, making other two fingers can better the envelope object.Guaranteed the flexibility of finger, the size of this flexibility is by the characteristic decision of torsion spring.
Claims (4)
1, a kind of under-driven adaptive of doing evil through another person for disabled persons three refers to link gear, and it comprises that motor (1), decelerator (2), motor cabinet (3), three refer to pedestal (6), three spindles (9), middle finger drive mechanism, nameless drive mechanism and little finger of toe drive mechanism; It is characterized in that described middle finger drive mechanism drives torsion spring (12), middle finger spring support (22), the middle finger first driving torsion spring backing pin (11), the middle finger second driving torsion spring backing pin (26) and middle finger pick off backing pin (27) by cone pinion (5), large bevel gear (8), gear interstage sleeve (10), middle finger torque sensor (7), middle finger and forms; Described nameless drive mechanism drives torsion spring (19), nameless spring support (18), the nameless first driving torsion spring backing pin (13), the nameless second driving torsion spring backing pin (20) and nameless pick off backing pin (25) by nameless torque sensor (21), the third finger and forms; Described little finger of toe drive mechanism drives torsion spring (16), little finger of toe spring support (15), the little finger of toe first driving torsion spring backing pin (14), the little finger of toe second driving torsion spring backing pin (24) and little finger of toe pick off backing pin (23) by little finger of toe torque sensor (17), little finger of toe and forms;
Described motor (1) is connected with decelerator (2), decelerator (2) is fixed on the motor cabinet (3), motor cabinet (3) is installed in three and refers on the pedestal (6), cone pinion (5) is installed on the output shaft of upper end of decelerator (2), cone pinion (5) and large bevel gear (8) engagement, three spindles (9) are contained in three and refer to that gear interstage sleeve (10) is contained in the intracavity of large bevel gear (8) on the pedestal (6), and gear interstage sleeve (10) is enclosed within on three spindles (9); Middle finger torque sensor (7) and middle finger spring support (22) are installed on three spindles (9) successively, middle finger drives torsion spring (12) and is installed on the middle finger spring support (22), on middle finger torque sensor (7), be provided with middle finger first and drive torsion spring backing pin (11), middle finger spring support (22) is provided with middle finger second and drives torsion spring backing pin (26), middle finger pick off backing pin (27) is fixed on large bevel gear (8) and the gear interstage sleeve (10), and middle finger pick off backing pin (27) is positioned at the front of middle finger moment sensing (7); Described nameless torque sensor (21) and nameless spring support (18) are installed on three spindles (9) successively, the nameless torsion spring (19) that drives is installed on the nameless spring support (18), nameless spring support (18) is provided with nameless first and drives torsion spring backing pin (13), nameless torque sensor (21) is provided with nameless second and drives torsion spring backing pin (20), nameless pick off backing pin (25) is located on the nameless spring support (18), and nameless pick off backing pin (25) is positioned at the front of nameless torque sensor (21); Described little finger of toe torque sensor (17) and little finger of toe spring support (15) are installed on three spindles (9) successively, little finger of toe drives torsion spring (16) and is installed on the little finger of toe spring support (15), little finger of toe spring support (15) is provided with little finger of toe first and drives torsion spring backing pin (14), little finger of toe torque sensor (17) is provided with little finger of toe second and drives torsion spring backing pin (24), little finger of toe pick off backing pin (23) is located on the little finger of toe spring support (15), and little finger of toe pick off backing pin (23) is positioned at little finger of toe torque sensor (17) front; Described motor (1) is a motor, and described middle finger torque sensor (7), nameless torque sensor (21), little finger of toe torque sensor (17) are matched in clearance with three spindles (9).
2, under-driven adaptive of doing evil through another person for disabled persons three according to claim 1 refers to link gear, it is characterized in that described three spindles (9) are flat axles; The flat hole that described middle finger spring support (22), nameless spring support (18), little finger of toe spring support (15) are provided with cooperates with the flat hole of three spindles (9) successively; Flat hole connects between the flat Kong Yusan spindle (9) on the described gear interstage sleeve (10), also is that flat hole is connected between the flat hole on described gear interstage sleeve (10) and the large bevel gear (8).
3, under-driven adaptive of doing evil through another person for disabled persons three according to claim 1 refers to link gear, it is characterized in that it also comprises motor adjustment pad (4), and described motor is adjusted pad (4) and is arranged between motor cabinet (3) and the three finger pedestals (6).
4, under-driven adaptive of doing evil through another person for disabled persons three according to claim 1 refers to link gear, it is characterized in that it also comprises bearing (28), and described bearing (28) is installed in three and refers between pedestal (6) and three spindles (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100721698A CN100522107C (en) | 2007-04-30 | 2007-04-30 | Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100721698A CN100522107C (en) | 2007-04-30 | 2007-04-30 | Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101036600A CN101036600A (en) | 2007-09-19 |
| CN100522107C true CN100522107C (en) | 2009-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100721698A Expired - Fee Related CN100522107C (en) | 2007-04-30 | 2007-04-30 | Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand |
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| Country | Link |
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| CN (1) | CN100522107C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101919755B (en) * | 2010-07-25 | 2012-06-27 | 山东科技大学 | Joint traction type humanoid robot hand |
| CN104382674B (en) * | 2014-10-20 | 2016-06-01 | 华中科技大学 | A kind of drive lacking prosthetic hand reappearing staff crawl function |
| CN104825259B (en) * | 2015-04-30 | 2016-08-24 | 大连理工大学 | A kind of functional finger prosthesis |
| US20190274911A1 (en) * | 2018-03-09 | 2019-09-12 | Myomo, Inc. | Grasp Assistance System and Method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4834443A (en) * | 1986-11-19 | 1989-05-30 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Robotic gripping device having linkage actuated finger sections |
-
2007
- 2007-04-30 CN CNB2007100721698A patent/CN100522107C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4834443A (en) * | 1986-11-19 | 1989-05-30 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Robotic gripping device having linkage actuated finger sections |
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| CN101036600A (en) | 2007-09-19 |
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