CN103284821A - Thumb structure of prosthetic hand - Google Patents
Thumb structure of prosthetic hand Download PDFInfo
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- CN103284821A CN103284821A CN201310200283XA CN201310200283A CN103284821A CN 103284821 A CN103284821 A CN 103284821A CN 201310200283X A CN201310200283X A CN 201310200283XA CN 201310200283 A CN201310200283 A CN 201310200283A CN 103284821 A CN103284821 A CN 103284821A
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- thumb
- gripper shoe
- sheave
- dactylus
- middle finger
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Abstract
The invention discloses a thumb structure of a prosthetic hand and belongs to the field of medical apparatuses. The thumb structure of the prosthetic hand solves the problems that an existing thumb structure of the prosthetic hand is excessive in drives, heavy and insufficient in flexibility. The thumb structure of the prosthetic hand comprises a palm bottom plate, a servo motor, a speed reducer, transmission mechanism a near knuckle, a middle knuckle and a far knuckle, the servo motor and the speed reducer which are mutually connected are fixed on the palm bottom plate, the speed reducer is connected with the transmission mechanism which is connected with the near knuckle, and the near knuckle, the middle knuckle and the far knuckle are rotationally connected sequentially. The thumb structure of the prosthetic hand adopts the servo motor to drive a thumb to bend and laterally swing, has three degrees of freedom, is extremely similar to a human thumb in shape and moving mode, and is attractive in appearance, human simulated and practical. Experimental results show that the thumb structure of the prosthetic hand has great self-adaptive capability when matches with other fingers during gripping and can realize enveloping, precise gripping, powerful gripping and side nipping of complex objects.
Description
Technical field
The invention belongs to medical instruments field, be specifically related to a kind of thumb mechanism of prosthetic hand.
Background technology
At present, the KNU prosthetic hand of Korea S has adopted outside geneva mechanism, its finger is that connecting rod drives, the connecting rod finger exists the not compact defective of structure (to see Jun-Uk Chu, Dong-Hyun Jung and Yun-Jung Lee, Design and Control of a Multifunction Myoelectric Hand with New Adaptive Grasping and Self-locking Mechanisms, in2008IEEE International Conference on Robotics and Automation.2008:Pasadena, CA, USA); Also used Geneva mechanism in the MANUS prosthetic hand, but transmit the driving path too complex of motor power, the energy loss of driving-chain is excessive (sees J.L.PONS, E.ROCON and R.CERES.The MANUS-HAND Dextrous robotics upper limb prosthesis:Mechanical and manipulation aspects.Autonomous Robots, 2004,16:143-163).
Summary of the invention
The invention provides a kind of thumb mechanism of prosthetic hand, solve existing prosthetic hand thumb mechanism drive number too much, preponderance, the not enough problem of motility.
The thumb mechanism of a kind of prosthetic hand provided by the present invention comprises palm base plate, servomotor, decelerator, drive mechanism, nearly dactylus, middle finger joint and dactylus far away; Described servomotor and decelerator are fixed on the palm base plate, and servomotor is connected with decelerator, and decelerator is connected with drive mechanism, and drive mechanism is connected with nearly dactylus, and described nearly dactylus, middle finger joint and dactylus far away are rotationally connected successively, it is characterized in that:
A, described drive mechanism comprises motor support plate, the sheave gripper shoe, the thumb pedestal, driven gear, cheese head screw, the first ball roller bearing, the second ball roller bearing, the active dial, holding screw, directive wheel, crank, round pin, bearing pin, connecting rod, the slide block boss, slide block, linear bearing, line slideway, steel wire rope, left side supporting seat, right supporting seat, driven sheave, first, the 3rd ball roller bearing, driving gear, the 4th ball roller bearing, first hollow steel ball, second hollow steel ball;
Motor support plate and sheave gripper shoe bottom are fixed on the palm base plate by screw, and motor support plate and sheave gripper shoe top have the decelerator axis hole, and the bottom has first axis hole; The thumb pedestal is connected and composed by the cylinder of one and flap and thumb base plate, the thumb base plate is connected by screw with flap, cylinder is between motor support plate and sheave gripper shoe, be with driven gear on the cylinder and connect by cheese head screw, the cylinder two ends are rotatably assorted by the first ball roller bearing and the second ball roller bearing and sheave gripper shoe, motor support plate respectively; Initiatively dial is the cylinder that the middle part has annular boss, annular boss has circular arc cutaway, annular boss one side cylinder stretches into the endoporus of the cylinder of thumb pedestal, described reducer output shaft penetrates in the cylinder of active dial by the decelerator axis hole of motor support plate, and is connected by the cylinder of equally distributed holding screw with the active dial; Fixedly there is directive wheel the flap end of thumb pedestal;
The left end hole, the right-hand member hole that have centre bore and the left and right sides thereof on the described crank, the centre bore of crank is placed in initiatively, and dial annular boss opposite side cylinder also is connected with active dial annular boss, right-hand member hole and the round pin of crank are threaded, the left end hole of crank is rotationally connected by bearing pin and connecting rod one end, the connecting rod other end is by the ball roller bearing slide block boss that is rotationally connected, and slide block boss and slide block are connected; Slide block is slidingly matched by linear bearing and line slideway, has on the slide block be used to the through hole that passes steel wire rope, and the line slideway two ends are fixed on the thumb base plate of thumb pedestal by left supporting seat and right supporting seat respectively;
Described driven sheave has the radially straight trough of axis hole and opening, the corresponding axis hole site has cylindrical boss on the driven sheave, the driven sheave edge has respectively about radially left locking arc and the right locking arc of straight trough symmetry, and described round pin is positioned at radially straight trough of described driven sheave;
Described first end is rotatably assorted by the 3rd ball roller bearing and the motor support plate that embeds first axis hole of motor support plate, first other end passes the axis hole of driving gear centre bore and driven sheave successively, and both are fixed on first to incite somebody to action the back by a plurality of holding screws, described driving gear and driven gear mesh by gear, and the cylindrical boss of driven sheave is rotatably assorted by the 4th ball roller bearing and the sheave gripper shoe that embeds first axis hole of sheave gripper shoe;
B, described nearly dactylus comprise nearly dactylus left cover, the right cover plate of nearly dactylus, first pulley, first torsion spring and first rotating shaft, first pulley and first torsion spring set are on first rotating shaft, first rotating shaft is fixed between nearly dactylus left cover and the right cover plate of nearly dactylus, and nearly dactylus left cover and the right cover plate of nearly dactylus lower end are fixed on the flap of described thumb pedestal;
Described middle finger joint comprises middle finger joint left cover, the right cover plate of middle finger joint, second pulley, second torsion spring and second rotating shaft, second pulley and second torsion spring set are on second rotating shaft, second rotating shaft is fixed between middle finger joint left cover and the right cover plate of middle finger joint, and the right cover plate of middle finger joint left cover and middle finger joint lower end is inserted between nearly dactylus left cover and the right cover plate of nearly dactylus, is enclosed within on first rotating shaft;
Described dactylus far away comprises fingerstall far away, left gripper shoe and right gripper shoe, left side gripper shoe and right gripper shoe are fixed in the left and right sides, fingerstall far away lower end respectively, and left gripper shoe and right gripper shoe lower end are inserted between middle finger joint left cover and the right cover plate of middle finger joint, are enclosed within on second rotating shaft;
The steel wire rope two ends fixedly have first hollow steel ball and second hollow steel ball respectively, first hollow steel ball is positioned at through hole one side of described slide block, the through hole of steel wire penetrating slide block twines first pulley and second pulley successively after the directive wheel guiding, be fixed in the fingerstall far away by second hollow steel ball.
Among the present invention, when initiatively dial was made constant speed and rotated continuously, when round pin did not enter the radial slot of driven sheave on the active dial, driven sheave pinned static because of the left locking arc of its indent; When round pin enters radially straight trough, left side locking arc and the initiatively boss disengagement of dial, the power of decelerator, pass to initiatively dial by holding screw, driven sheave rotates under the driving of round pin, pass to the driving gear coaxial with it subsequently, pass to driven gear by the gear engagement, export to the thumb pedestal that is connected by cheese head screw and driven gear at last.
The connecting rod two ends form revolute pair with crank and slide block boss respectively, and turning cylinder is respectively bearing pin and slide block boss; Toggle is converted into slide block to motor along the rectilinear motion of line slideway through the rotatablely moving of active dial that decelerator produces, slide block is given steel wire rope by first hollow steel ball with transmission of power, steel wire rope is given middle finger joint and dactylus far away with transmission of power, nearly dactylus left cover and the right cover plate of nearly dactylus are fixed on the thumb pedestal, so nearly dactylus is unyielding, middle finger joint and dactylus far away can be respectively around first rotating shaft and the second rotating shaft bendings.
When driven sheave was lockable, rotatablely moving of motor output shaft changed reciprocal rectilinear motion into by slider-crank mechanism, and the rectilinear motion of slide block pulling thumb produces flexure operation then.
When driven sheave is not lockable, round pin enters radially and begins to drive the driven sheave rotation after the straight trough, first is rotated with the active dial then, when the active dial turns clockwise after 90 °, driven sheave also has been rotated counterclockwise 90 °, and meanwhile driven gear and thumb pedestal have also turned clockwise 90 °.In this case, thumb has been realized the side-sway motion.
In order to reduce the quantity of driver as far as possible, weight and volume, the present invention adopts a motor to drive bending and stretching, extension, interior receipts and the abduction exercise of thumb simultaneously, the present invention has three degree of freedom: nearly dactylus has the side-sway degree of freedom, rotary freedom between nearly dactylus and the middle finger joint, rotary freedom between middle finger joint and the dactylus far away, interior receipts and abduction realize by one group of outside geneva mechanism; This makes that the present invention is extremely similar, more attractive in appearance with people's thumb on external form and motion mode, apery, practicality.Experiment shows that the present invention cooperates with other fingers, has very strong adaptive ability when grasping, can realize that envelope, accurately grasping, strength grasping and the side to complex object pinched.
Description of drawings
Fig. 1 is overall schematic of the present invention (left hand thumb, the palm of the hand is up);
Fig. 2 is the front view of drive mechanism 2 of the present invention;
Fig. 3 is the A-A cutaway view of Fig. 2;
Fig. 4 is the B-B cutaway view of Fig. 2;
Fig. 5 driven sheave structural representation;
Fig. 6 driven sheave mechanism principle figure;
The whole thumb mechanism of Fig. 7 is along thumb plane of symmetry cutaway view;
Fig. 8 is that the C of Fig. 7 is to view.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
As shown in Figure 1, present embodiment comprises palm base plate 1, servomotor 2, decelerator 3, drive mechanism 4, nearly dactylus 5, middle finger joint 6 and dactylus 7 far away; Described servomotor 2 and decelerator 3 are fixed on the palm base plate 1, and servomotor 2 is connected with decelerator 3, and decelerator 3 is connected with drive mechanism 4, and drive mechanism 4 is connected with nearly dactylus 5, and described nearly dactylus 5, middle finger joint 6 and dactylus 7 far away are rotationally connected successively.
As Fig. 2, Fig. 3, shown in Figure 4, described drive mechanism 4 comprises motor support plate 4-1, sheave gripper shoe 4-2, thumb pedestal 4-3, driven gear 4-4, cheese head screw 4-5, the first ball roller bearing 4-6, the second ball roller bearing 4-7, active dial 4-8, holding screw 4-9, directive wheel 4-10, crank 4-11, round pin 4-12, bearing pin 4-13, connecting rod 4-14, slide block boss 4-15, slide block 4-16, linear bearing 4-17, line slideway 4-18, steel wire rope 4-19, left side supporting seat 4-20, right supporting seat 4-21, driven sheave 4-22, first 4-23, the 3rd ball roller bearing 4-24, driving gear 4-25, the 4th ball roller bearing 4-26, the first hollow steel ball 4-27, the second hollow steel ball 4-28;
Motor support plate 4-1 and sheave gripper shoe 4-2 bottom are fixed on the palm base plate 1 by screw, and motor support plate 4-1 and sheave gripper shoe 4-2 top have the decelerator axis hole, and the bottom has first axis hole; Thumb pedestal 4-3 is connected and composed by the cylinder 4-3A of one and flap 4-3B and thumb base plate 4-3C, thumb base plate 4-3C is connected by screw with flap 4-3B, cylinder 4-3A is between motor support plate 4-1 and sheave gripper shoe 4-2, be with driven gear 4-4 on the cylinder 4-3A and connect by cheese head screw 4-5, cylinder 4-3A two ends are rotatably assorted by the first ball roller bearing 4-6 and the second ball roller bearing 4-7 and sheave gripper shoe 4-2, motor support plate 4-1 respectively; Initiatively dial 4-8 is the cylinder that the middle part has annular boss 4-8A, annular boss 4-8A has circular arc cutaway, annular boss 4-8A one side cylinder stretches into the endoporus of the cylinder 4-3A of thumb pedestal 4-3, described decelerator 3 output shafts penetrate in the cylinder of active dial 4-8 by the decelerator axis hole of motor support plate 4-1, and are connected with the cylinder of active dial 4-8 by equally distributed holding screw 4-9; Fixedly there is directive wheel 4-10 the flap 4-3B end of thumb pedestal 4-3;
As Fig. 2, shown in Figure 4, the left end hole 4-11B that has centre bore 4-11A and the left and right sides thereof on the described crank 4-11, right-hand member hole 4-11C, the centre bore 4-11A of crank 4-11 is placed in initiatively, and dial 4-8 annular boss 4-8A opposite side cylinder also is connected with active dial 4-8 annular boss 4-8A, right-hand member hole 4-11C and the round pin 4-12 of crank 4-11 are threaded, the left end hole 4-11B of crank 4-11 is rotationally connected by bearing pin 4-13 and connecting rod 4-14 one end, the connecting rod 4-14 other end is by the ball roller bearing slide block boss 4-15 that is rotationally connected, and slide block boss 4-15 and slide block 4-16 are connected; Slide block 4-16 is slidingly matched by linear bearing 4-17 and line slideway 4-18, have on the slide block 4-16 be used to the through hole that passes steel wire rope 4-19, line slideway 4-18 two ends are fixed on the thumb base plate 4-3C of thumb pedestal 4-3 by left supporting seat 4-20 and right supporting seat 4-21 respectively;
Connecting rod 4-14 two ends form revolute pair with crank 4-11 and slide block boss 4-15 respectively, and turning cylinder is respectively bearing pin 4-13 and slide block boss 4-15; Toggle is converted into slide block 4-16 to motor along the rectilinear motion of line slideway through the rotatablely moving of active dial 4-8 that decelerator 3 produces;
As shown in Figure 5, described driven sheave 4-22 has the radially straight trough 4-22B of axis hole 4-22A and opening, driven sheave 4-22 goes up corresponding axis hole 4-22A position and has cylindrical boss 4-22C, driven sheave 4-22 edge has respectively about radially left locking arc 4-22D and the right locking arc 4-22E of straight trough 4-22B symmetry, and described round pin 4-12 is positioned at radially straight trough of described driven sheave 4-22;
The end of described first 4-23 is rotatably assorted by the 3rd ball roller bearing 4-24 and the motor support plate 4-1 that embeds first axis hole of motor support plate 4-1, first 4-23 other end passes the axis hole 4-22A of driving gear 4-25 centre bore and driven sheave 4-22 successively, and both are fixed on first 4-23 to incite somebody to action the back by a plurality of holding screws, described driving gear 4-25 and driven gear 4-4 mesh by gear, and the cylindrical boss 4-22C of driven sheave 4-22 is rotatably assorted by the 4th ball roller bearing 4-26 and the sheave gripper shoe 4-2 that embeds first axis hole of sheave gripper shoe 4-2;
As shown in Figure 6, when initiatively dial 4-8 made constant speed and rotates continuously, when round pin 4-12 on the active dial did not enter the straight trough 4-22B of driven sheave 4-22, driven sheave 4-22 pinned static because of the left locking arc 4-22D of its indent; When round pin 4-12 enters radially straight trough 4-22B, left side locking arc and the initiatively boss 6-1 disengagement of dial 4-8, the power of decelerator 3, pass to initiatively dial 4-8 by holding screw 4-9, driven sheave 4-22 rotates under the driving of round pin 4-12, pass to the driving gear 4-25 coaxial with it subsequently, pass to driven gear 4-4 by the gear engagement, export to the thumb pedestal 4-3 that is connected by cheese head screw 4-5 and driven gear 4-4 at last.
To sum up, when round pin 4-12 enters radial slot, the power of decelerator 3, pass to initiatively dial 4-8 by holding screw 4-9, pass to driven sheave 4-22 by round pin 4-12 then, pass to coaxial driving gear 4-25 subsequently, pass to driven gear 4-4 by the gear engagement, export to thumb pedestal 4-3 at last;
As Fig. 7, shown in Figure 8, described nearly dactylus 5 comprises nearly dactylus left cover 5-1, the right cover plate 5-2 of nearly dactylus, the first pulley 5-3, the first torsion spring 5-4 and the first rotating shaft 5-5, the first pulley 5-3 and the first torsion spring 5-4 are enclosed within on the first rotating shaft 5-5, the first rotating shaft 5-5 is fixed between nearly dactylus left cover 5-1 and the right cover plate 5-2 of nearly dactylus, and nearly dactylus left cover 5-1 and the right cover plate 5-2 of nearly dactylus lower end are fixed on the flap 4-3B of described thumb pedestal 4-3;
Described middle finger joint 6 comprises middle finger joint left cover 6-1, the right cover plate 6-2 of middle finger joint, the second pulley 6-3, the second torsion spring 6-4 and the second rotating shaft 6-5, the second pulley 6-3 and the second torsion spring 6-4 are enclosed within on the second rotating shaft 6-5, the second rotating shaft 6-5 is fixed between middle finger joint left cover 6-1 and the right cover plate 6-2 of middle finger joint, and the right cover plate 6-2 of middle finger joint left cover 6-1 and middle finger joint inserts the lower end between nearly dactylus left cover 5-1 and the right cover plate 5-2 of nearly dactylus, is enclosed within on the first rotating shaft 5-5;
Described dactylus far away 7 comprises fingerstall 7-1 far away, left gripper shoe 7-2 and right gripper shoe 7-3, left side gripper shoe 7-2 and right gripper shoe 7-3 are fixed in the left and right sides, fingerstall 7-1 lower end far away respectively, and left gripper shoe 7-2 and right gripper shoe 7-3 lower end are inserted between middle finger joint left cover 6-1 and the right cover plate 6-2 of middle finger joint, are enclosed within on the second rotating shaft 6-5;
Steel wire rope 4-19 two ends fixedly have the first hollow steel ball 4-27 and the second hollow steel ball 4-28 respectively, the first hollow steel ball 4-27 is positioned at through hole one side of described slide block 4-16, steel wire rope 4-19 passes the through hole of slide block 4-16, after directive wheel 4-10 guiding, twine the first pulley 5-3 and the second pulley 6-3 successively, be fixed in the fingerstall 7-1 far away by the second hollow steel ball 4-28.
In the present embodiment, transmit the power of slide block 4-16 with steel wire rope 4-19 and give thumb, slide block 4-16 does rectilinear motion along line slideway 4-18 to the right, give steel wire rope 4-19 by the first hollow steel ball 4-27 with transmission of power, give middle finger joint 6 and dactylus 7 far away by steel wire rope 4-19 with transmission of power then, nearly dactylus left cover 5-1 and the right cover plate 5-2 of nearly dactylus are fixed on the thumb pedestal 4-3, so nearly dactylus 5 is unyielding, middle finger joint 6 and dactylus 7 far away can be respectively around the first rotating shaft 5-5 and the second rotating shaft 6-5 bendings.The first torsion spring 5-4 and the second torsion spring 6-4 are used for recovering the initial position of thumb.
Motor in the present embodiment is selected the DC brush servomotor of Feng Habo company for use.
The present invention not only is confined to this embodiment, and every employing project organization of the present invention and thinking are done some simple designs that change or change, and all fall into the scope of protection of the invention.
Claims (1)
1. the thumb mechanism of a prosthetic hand comprises palm base plate (1), servomotor (2), decelerator (3), drive mechanism (4), nearly dactylus (5), middle finger joint (6) and dactylus (7) far away; Described servomotor (2) and decelerator (3) are fixed on the palm base plate (1), servomotor (2) is connected with decelerator (3), decelerator (3) is connected with drive mechanism (4), drive mechanism (4) is connected with nearly dactylus (5), described nearly dactylus (5), middle finger joint (6) and dactylus (7) far away are rotationally connected successively, it is characterized in that:
A, described drive mechanism (4) comprises motor support plate (4-1), sheave gripper shoe (4-2), thumb pedestal (4-3), driven gear (4-4), cheese head screw (4-5), the first ball roller bearing (4-6), the second ball roller bearing (4-7), active dial (4-8), holding screw (4-9), directive wheel (4-10), crank (4-11), round pin (4-12), bearing pin (4-13), connecting rod (4-14), slide block boss (4-15), slide block (4-16), linear bearing (4-17), line slideway (4-18), steel wire rope (4-19), left side supporting seat (4-20), right supporting seat (4-21), driven sheave (4-22), first (4-23), the 3rd ball roller bearing (4-24), driving gear (4-25), the 4th ball roller bearing (4-26), first hollow steel ball (4-27), second hollow steel ball (4-28);
Motor support plate (4-1) and sheave gripper shoe (4-2) bottom are fixed on the palm base plate (1) by screw, and motor support plate (4-1) and sheave gripper shoe (4-2) top have the decelerator axis hole, and the bottom has first axis hole; Thumb pedestal (4-3) is connected and composed with thumb base plate (4-3C) by cylinder (4-3A) and the flap (4-3B) of one, thumb base plate (4-3C) is connected by screw with flap (4-3B), cylinder (4-3A) is positioned between motor support plate (4-1) and the sheave gripper shoe (4-2), be with driven gear (4-4) on the cylinder (4-3A) and pass through cheese head screw (4-5) connection, cylinder (4-3A) two ends are rotatably assorted with sheave gripper shoe (4-2), motor support plate (4-1) by the first ball roller bearing (4-6) and the second ball roller bearing (4-7) respectively; Initiatively dial (4-8) has the cylinder of annular boss (4-8A) for the middle part, annular boss (4-8A) has circular arc cutaway, annular boss (4-8A) side cylinder stretches into the endoporus of the cylinder (4-3A) of thumb pedestal (4-3), described decelerator (3) output shaft penetrates in the cylinder of active dial (4-8) by the decelerator axis hole of motor support plate (4-1), and is connected by the cylinder of equally distributed holding screw (4-9) with active dial (4-8); Fixedly there is directive wheel (4-10) flap (4-3B) end of thumb pedestal (4-3);
The left end hole (4-11B) that has centre bore (4-11A) and the left and right sides thereof on the described crank (4-11), right-hand member hole (4-11C), the centre bore (4-11A) of crank (4-11) is placed in initiatively, and dial (4-8) annular boss (4-8A) opposite side cylinder also is connected with active dial (4-8) annular boss (4-8A), right-hand member hole (4-11C) and the round pin (4-12) of crank (4-11) are threaded, the left end hole (4-11B) of crank (4-11) is rotationally connected by bearing pin (4-13) and connecting rod (4-14) end, connecting rod (4-14) other end is by the ball roller bearing slide block boss (4-15) that is rotationally connected, and slide block boss (4-15) and slide block (4-16) are connected; Slide block (4-16) is slidingly matched by linear bearing (4-17) and line slideway (4-18), have be used to the through hole that passes steel wire rope (4-19) on the slide block (4-16), line slideway (4-18) two ends are fixed on the thumb base plate (4-3C) of thumb pedestal (4-3) by left supporting seat (4-20) and right supporting seat (4-21) respectively;
Described driven sheave (4-22) has the radially straight trough (4-22B) of axis hole (4-22A) and opening, driven sheave (4-22) is gone up corresponding axis hole (4-22A) position and is had cylindrical boss (4-22C), driven sheave (4-22) edge has left locking arc (4-22D) and the right locking arc (4-22E) about the symmetry of straight trough (4-22B) radially respectively, and described round pin (4-12) is positioned at radially straight trough of described driven sheave (4-22);
One end of described first (4-23) is rotatably assorted by the 3rd ball roller bearing (4-24) and the motor support plate (4-1) that embeds first axis hole of motor support plate (4-1), first (4-23) other end passes the axis hole (4-22A) of driving gear (4-25) centre bore and driven sheave (4-22) successively, and both are fixed on first (4-23) to incite somebody to action the back by a plurality of holding screws, described driving gear (4-25) and driven gear (4-4) are by the gear engagement, and the cylindrical boss (4-22C) of driven sheave (4-22) is rotatably assorted by the 4th ball roller bearing (4-26) and the sheave gripper shoe (4-2) that embeds first axis hole of sheave gripper shoe (4-2);
B, described nearly dactylus (5) comprise nearly dactylus left cover (5-1), the right cover plate (5-2) of nearly dactylus, first pulley (5-3), first torsion spring (5-4) and first rotating shaft (5-5), first pulley (5-3) and first torsion spring (5-4) are enclosed within on first rotating shaft (5-5), first rotating shaft (5-5) is fixed between nearly dactylus left cover (5-1) and the nearly right cover plate of dactylus (5-2), and nearly dactylus left cover (5-1) and the right cover plate (5-2) of nearly dactylus lower end are fixed on the flap (4-3B) of described thumb pedestal (4-3);
Described middle finger joint (6) comprises middle finger joint left cover (6-1), the right cover plate (6-2) of middle finger joint, second pulley (6-3), second torsion spring (6-4) and second rotating shaft (6-5), second pulley (6-3) and second torsion spring (6-4) are enclosed within on second rotating shaft (6-5), second rotating shaft (6-5) is fixed between middle finger joint left cover (6-1) and the right cover plate of middle finger joint (6-2), and the right cover plate (6-2) of middle finger joint left cover (6-1) and middle finger joint lower end is inserted between nearly dactylus left cover (5-1) and the nearly right cover plate of dactylus (5-2), is enclosed within on first rotating shaft (5-5);
Described dactylus far away (7) comprises fingerstall far away (7-1), left gripper shoe (7-2) and right gripper shoe (7-3), left side gripper shoe (7-2) and right gripper shoe (7-3) are fixed in fingerstall far away (7-1) left and right sides, lower end respectively, and left gripper shoe (7-2) and right gripper shoe (7-3) lower end are inserted between middle finger joint left cover (6-1) and the right cover plate of middle finger joint (6-2), are enclosed within on second rotating shaft (6-5);
Steel wire rope (4-19) two ends fixedly have first hollow steel ball (4-27) and second hollow steel ball (4-28) respectively, first hollow steel ball (4-27) is positioned at through hole one side of described slide block (4-16), steel wire rope (4-19) passes the through hole of slide block (4-16), after directive wheel (4-10) guiding, twine first pulley (5-3) and second pulley (6-3) successively, be fixed in the fingerstall far away (7-1) by second hollow steel ball (4-28).
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| CN201310200283.XA CN103284821B (en) | 2013-05-27 | 2013-05-27 | Thumb structure of prosthetic hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310200283.XA CN103284821B (en) | 2013-05-27 | 2013-05-27 | Thumb structure of prosthetic hand |
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| CN103284821B CN103284821B (en) | 2014-06-04 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104146800A (en) * | 2014-08-26 | 2014-11-19 | 北京理工大学 | Mechanically-driven finger prosthesis |
| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| CN106038009A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
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| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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| CN104146800B (en) * | 2014-08-26 | 2017-01-04 | 北京理工大学 | A kind of mechanically operated finger prosthesis |
| CN104146800A (en) * | 2014-08-26 | 2014-11-19 | 北京理工大学 | Mechanically-driven finger prosthesis |
| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
| CN104400792A (en) * | 2014-10-20 | 2015-03-11 | 华中科技大学 | Under-actuated finger capable of being flexibly coupled between joints |
| CN104400792B (en) * | 2014-10-20 | 2015-10-28 | 华中科技大学 | A kind of under-actuated finger closing internode flexible couplings |
| CN104665962A (en) * | 2015-02-05 | 2015-06-03 | 华南理工大学 | Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof |
| WO2017084637A1 (en) * | 2015-11-18 | 2017-05-26 | 杭州若比邻机器人科技有限公司 | Prosthetic thumb |
| CN106109066A (en) * | 2015-11-18 | 2016-11-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
| CN106038009A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106109066B (en) * | 2015-11-18 | 2018-01-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
| CN106038009B (en) * | 2015-11-18 | 2018-02-06 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
| CN108784893A (en) * | 2018-08-02 | 2018-11-13 | 陆辰迪 | A kind of prosthetic hand |
| CN110731842A (en) * | 2019-09-20 | 2020-01-31 | 上海健康医学院 | thumb device for pneumatic muscle actuation of a smart hand |
| CN110731842B (en) * | 2019-09-20 | 2021-11-19 | 上海健康医学院 | Pneumatic muscle driven thumb device for smart hand |
| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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