CN103284821B - Thumb structure of prosthetic hand - Google Patents
Thumb structure of prosthetic hand Download PDFInfo
- Publication number
- CN103284821B CN103284821B CN201310200283.XA CN201310200283A CN103284821B CN 103284821 B CN103284821 B CN 103284821B CN 201310200283 A CN201310200283 A CN 201310200283A CN 103284821 B CN103284821 B CN 103284821B
- Authority
- CN
- China
- Prior art keywords
- thumb
- plate
- middle finger
- finger joint
- support plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Prostheses (AREA)
- Manipulator (AREA)
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, connecting rod finger exists the defect that structure is not compact (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); In MANUS prosthetic hand, also apply Geneva mechanism, 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 inadequate 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 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, sheave gripper shoe, thumb pedestal, driven gear, cheese head screw, the first ball roller bearing, the second ball roller bearing, initiatively driver plate, holding screw, directive wheel, crank, round pin, bearing pin, connecting rod, slide block boss, slide block, linear bearing, line slideway, steel wire rope, left support seat, right support seat, driven sheave, the first axle, the 3rd ball roller bearing, driving gear, the 4th ball roller bearing, the first hollow steel ball, the second hollow steel ball,
Motor support plate and sheave gripper shoe bottom are fixed by screws on palm base plate, and motor support plate and sheave gripper shoe top have decelerator axis hole, and bottom has the first axle axis hole; Thumb pedestal is connected and composed by the cylinder of one and flap and thumb base plate, thumb base plate and flap are connected by screw, cylinder is between motor support plate and sheave gripper shoe, on cylinder, cover has driven gear and connects by cheese head screw, and 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 driver plate is the cylinder that 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 driver plate by the decelerator axis hole of motor support plate, and is connected with the cylinder of active driver plate by equally distributed holding screw; The flap end of thumb pedestal is fixed with directive wheel;
On described crank, there is left end hole, the right-hand member hole of centre bore and the left and right sides thereof, the centre bore of crank is placed on initiatively driver plate annular boss opposite side cylinder and is also connected with active driver plate 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 rotationally connected slide block boss by ball roller bearing, and slide block boss and slide block are connected; Slide block is slidably matched by linear bearing and line slideway, has for the through hole through steel wire rope on slide block, and line slideway two ends are fixed on the thumb base plate of thumb pedestal by left support seat and right support seat respectively;
Described driven sheave has the radially straight trough of axis hole and opening, on driven sheave, corresponding axis hole site has cylindrical boss, 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;
One end of described the first axle is rotatably assorted by the 3rd ball roller bearing and the motor support plate that embed motor support plate the first axle axis hole, the first axle other end passes the axis hole of driving gear centre bore and driven sheave successively, and by multiple holding screws by rear both be fixed on the first axle, described driving gear and driven gear engage by gear, and the cylindrical boss of driven sheave is rotatably assorted by the 4th ball roller bearing and the sheave gripper shoe that embed sheave gripper shoe the first axle axis hole;
B, described nearly dactylus comprise nearly dactylus left cover, nearly dactylus right cover plate, the first pulley, the first torsion spring and the first rotating shaft, the first pulley and the first torsion spring set are on the first rotating shaft, the first rotating shaft is fixed between nearly dactylus left cover and nearly dactylus right cover plate, and nearly dactylus left cover and nearly dactylus right cover plate lower end are fixed on the flap of described thumb pedestal;
Described middle finger joint comprises middle finger joint left cover, middle finger joint right cover plate, the second pulley, the second torsion spring and the second rotating shaft, the second pulley and the second torsion spring set are on the second rotating shaft, the second rotating shaft is fixed between middle finger joint left cover and middle finger joint right cover plate, and middle finger joint left cover and middle finger joint right cover plate lower end are inserted between nearly dactylus left cover and nearly dactylus right cover plate, are enclosed within on the first rotating shaft;
Described dactylus far away comprises fingerstall far away, left support plate and right support plate, left support plate and right support plate are fixed in respectively the left and right sides, fingerstall far away lower end, and left support plate and right support plate lower end are inserted between middle finger joint left cover and middle finger joint right cover plate, are enclosed within on the second rotating shaft;
Steel wire rope two ends are fixed with respectively the first hollow steel ball and the second hollow steel ball, the first hollow steel ball is positioned at through hole one side of described slide block, the through hole of steel wire penetrating slide block is wound around successively the first pulley and the second pulley after directive wheel guiding, is fixed in fingerstall far away by the second hollow steel ball.
In the present invention, when initiatively driver plate is made constant speed and rotated continuously, in the time that on active driver plate, round pin does not enter the radial slot of driven sheave, driven sheave pins static because of the left locking arc of its indent; In the time that round pin enters radially straight trough, the boss of left locking arc and initiatively driver plate is thrown off, the power of decelerator, pass to initiatively driver plate by holding screw, driven sheave rotates under the driving of round pin, pass to subsequently the driving gear coaxial with it, engage and pass to driven gear by gear, finally export to the thumb pedestal being connected by cheese head screw and driven gear.
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 produces motor rotatablely moving of active driver plate through decelerator is converted into the rectilinear motion of slide block along line slideway, slide block passes to steel wire rope by the first hollow steel ball by power, power is passed to middle finger joint and dactylus far away by steel wire rope, nearly dactylus left cover and nearly dactylus right cover plate are fixed on thumb pedestal, so nearly dactylus is unyielding, middle finger joint and dactylus far away can be respectively around the first rotating shaft and the second rotating shaft bendings.
In the time that driven sheave is lockable, rotatablely moving of motor output shaft changes reciprocal rectilinear motion into by slider-crank mechanism, and then the rectilinear motion of slide block pulls thumb to produce flexure operation.
In the time that driven sheave is not lockable, round pin enters radially and starts to drive driven sheave rotation after straight trough, then the first axle rotates with active driver plate, when active driver plate turns clockwise after 90 °, driven sheave has also been rotated counterclockwise 90 °, and meanwhile driven gear and thumb pedestal have also turned clockwise 90 °.In this case, thumb has been realized 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 side-sway degree of freedom, a rotary freedom between nearly dactylus and middle finger joint, a rotary freedom between middle finger joint and 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 with on motion mode in external form, apery, practicality.Experiment shows, the present invention in the time grasping and other fingers coordinate, there is very strong adaptive ability, can realize envelope to complex object, accurately grasp, strength grasps and side is pinched.
Brief description of the drawings
Fig. 1 is overall schematic of the present invention (left hand thumb, the palm of the hand upward);
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.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 1, the 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 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 Fig. 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, initiatively driver plate 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 support seat 4-20, right support seat 4-21, driven sheave 4-22, the first axle 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 by screws on palm base plate 1, and motor support plate 4-1 and sheave gripper shoe 4-2 top have decelerator axis hole, and bottom has the first axle 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 and flap 4-3B are connected by screw, cylinder 4-3A is between motor support plate 4-1 and sheave gripper shoe 4-2, the upper cover of cylinder 4-3A has driven gear 4-4 and connects by cheese head screw 4-5, and 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 driver plate 4-8 is the cylinder that middle part has annular boss 4-8A, annular boss 4-8A has circular arc cutaway, annular boss 4-8A mono-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 driver plate 4-8 by the decelerator axis hole of motor support plate 4-1, and are connected with the cylinder of active driver plate 4-8 by equally distributed holding screw 4-9; The flap 4-3B end of thumb pedestal 4-3 is fixed with directive wheel 4-10;
As Fig. 2, shown in Fig. 4, on described crank 4-11, there is the left end hole 4-11B of centre bore 4-11A and the left and right sides thereof, right-hand member hole 4-11C, the centre bore 4-11A of crank 4-11 is placed on initiatively driver plate 4-8 annular boss 4-8A opposite side cylinder and is also connected with active driver plate 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 rotationally connected slide block boss 4-15 by ball roller bearing, slide block boss 4-15 and slide block 4-16 are connected, slide block 4-16 is slidably matched by linear bearing 4-17 and line slideway 4-18, on slide block 4-16, have for the through hole through 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 support seat 4-20 and right support 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 produces motor rotatablely moving of active driver plate 4-8 through decelerator 3 is converted into the rectilinear motion of slide block 4-16 along line slideway;
As shown in Figure 5, described driven sheave 4-22 has the radially straight trough 4-22B of axis hole 4-22A and opening, the upper corresponding axis hole 4-22A of driven sheave 4-22 position 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;
One end of described the first axle 4-23 is rotatably assorted by the 3rd ball roller bearing 4-24 and the motor support plate 4-1 that embed motor support plate 4-1 the first axle axis hole, the first axle 4-23 other end passes the axis hole 4-22A of driving gear 4-25 centre bore and driven sheave 4-22 successively, and by multiple holding screws by rear both be fixed on the first axle 4-23, described driving gear 4-25 and driven gear 4-4 engage by gear, 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 embed sheave gripper shoe 4-2 the first axle axis hole,
As shown in Figure 6, when initiatively driver plate 4-8 makes constant speed and rotates continuously, in the time that round pin 4-12 on active driver plate does not enter the straight trough 4-22B of driven sheave 4-22, driven sheave 4-22 pins static because of the left locking arc 4-22D of its indent; In the time that round pin 4-12 enters radially straight trough 4-22B, the boss 6-1 of left locking arc and initiatively driver plate 4-8 throws off, the power of decelerator 3, pass to initiatively driver plate 4-8 by holding screw 4-9, driven sheave 4-22 rotates under the driving of round pin 4-12, pass to subsequently the driving gear 4-25 coaxial with it, engage and pass to driven gear 4-4 by gear, finally export to the thumb pedestal 4-3 being connected by cheese head screw 4-5 and driven gear 4-4.
To sum up, in the time that round pin 4-12 enters radial slot, the power of decelerator 3, pass to initiatively driver plate 4-8 by holding screw 4-9, then pass to driven sheave 4-22 by round pin 4-12, pass to subsequently coaxial driving gear 4-25, engage and pass to driven gear 4-4 by gear, finally export to thumb pedestal 4-3;
As shown in Figure 7, Figure 8, described nearly dactylus 5 comprises nearly dactylus left cover 5-1, nearly dactylus right cover plate 5-2, 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 nearly dactylus right cover plate 5-2, and nearly dactylus left cover 5-1 and nearly dactylus right cover plate 5-2 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, middle finger joint right cover plate 6-2, 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 middle finger joint right cover plate 6-2, and middle finger joint left cover 6-1 and middle finger joint right cover plate 6-2 lower end are inserted between nearly dactylus left cover 5-1 and nearly dactylus right cover plate 5-2, are enclosed within on the first rotating shaft 5-5;
Described dactylus far away 7 comprises fingerstall 7-1 far away, left support plate 7-2 and right support plate 7-3, left support plate 7-2 and right support plate 7-3 are fixed in respectively the left and right sides, fingerstall 7-1 lower end far away, and left support plate 7-2 and right support plate 7-3 lower end are inserted between middle finger joint left cover 6-1 and middle finger joint right cover plate 6-2, are enclosed within on the second rotating shaft 6-5;
Steel wire rope 4-19 two ends are fixed with respectively the first hollow steel ball 4-27 and the second hollow steel ball 4-28, 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 is through the through hole of slide block 4-16, after directive wheel 4-10 guiding, be wound around successively the first pulley 5-3 and the second pulley 6-3, be fixed in fingerstall 7-1 far away by the second hollow steel ball 4-28.
In the present embodiment, the power that transmits slide block 4-16 with steel wire rope 4-19 is to thumb, slide block 4-16 does rectilinear motion along line slideway 4-18 to the right, by the first hollow steel ball 4-27, power is passed to steel wire rope 4-19, then by steel wire rope 4-19, power is passed to middle finger joint 6 and dactylus 7 far away, nearly dactylus left cover 5-1 and nearly dactylus right cover plate 5-2 are fixed on 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.
The present invention is not only 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. a thumb mechanism for 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 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, in described drive mechanism (4), realizing a servomotor (2) by driven sheave (4-22) and the butt coupling of crank (4-11) drives thumb pedestal (4-3) with respect to the motion of palm base plate (1) and nearly dactylus (5), relative motion between middle finger joint (6) and dactylus (7) far away, adopt the first pulley (5-3), the second pulley (6-3) and steel wire rope (4-19) to drive middle finger joint (6) and dactylus (7) far away, 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), initiatively driver plate (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 support seat (4-20), right support seat (4-21), driven sheave (4-22), the first axle (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),
It is upper that motor support plate (4-1) and sheave gripper shoe (4-2) bottom are fixed by screws in palm base plate (1), and motor support plate (4-1) and sheave gripper shoe (4-2) top have decelerator axis hole, and bottom has the first axle 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) and flap (4-3B) are connected by screw, cylinder (4-3A) is positioned between motor support plate (4-1) and sheave gripper shoe (4-2), the upper cover of cylinder (4-3A) has driven gear (4-4) and connects by cheese head screw (4-5), cylinder (4-3A) two ends are respectively 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) is rotatably assorted, initiatively driver plate (4-8) has the cylinder of annular boss (4-8A) for 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 driver plate (4-8) by the decelerator axis hole of motor support plate (4-1), and is connected with the cylinder of active driver plate (4-8) by equally distributed holding screw (4-9), flap (4-3B) end of thumb pedestal (4-3) is fixed with directive wheel (4-10),
On described crank (4-11), there is the left end hole (4-11B) of centre bore (4-11A) and the left and right sides thereof, right-hand member hole (4-11C), the centre bore (4-11A) of crank (4-11) is placed on initiatively driver plate (4-8) annular boss (4-8A) opposite side cylinder and is also connected with active driver plate (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, connecting rod (4-14) other end is rotationally connected slide block boss (4-15) by ball roller bearing, slide block boss (4-15) and slide block (4-16) are connected, slide block (4-16) is slidably matched by linear bearing (4-17) and line slideway (4-18), on slide block (4-16), have for the through hole through 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 support seat (4-20) and right support seat (4-21) respectively,
Described driven sheave (4-22) has the radially straight trough (4-22B) of axis hole (4-22A) and opening, the upper corresponding axis hole (4-22A) of driven sheave (4-22) position has cylindrical boss (4-22C), driven sheave (4-22) edge has respectively left locking arc (4-22D) and the right locking arc (4-22E) symmetrical about straight trough (4-22B) radially, and described round pin (4-12) is positioned at radially straight trough of described driven sheave (4-22);
One end of described the first axle (4-23) is rotatably assorted by the 3rd ball roller bearing (4-24) and the motor support plate (4-1) that embed motor support plate (4-1) the first axle axis hole, the first axle (4-23) other end passes the axis hole (4-22A) of driving gear (4-25) centre bore and driven sheave (4-22) successively, and by multiple holding screws by rear both be fixed on the first axle (4-23), described driving gear (4-25) and driven gear (4-4) engage by gear, 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 embed sheave gripper shoe (4-2) the first axle axis hole,
B, described nearly dactylus (5) comprise nearly dactylus left cover (5-1), nearly dactylus right cover plate (5-2), 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 nearly dactylus right cover plate (5-2), and nearly dactylus left cover (5-1) and nearly dactylus right cover plate (5-2) 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), middle finger joint right cover plate (6-2), 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 middle finger joint right cover plate (6-2), insert between nearly dactylus left cover (5-1) and nearly dactylus right cover plate (5-2) middle finger joint left cover (6-1) and middle finger joint right cover plate (6-2) lower end, be enclosed within on the first rotating shaft (5-5),
Described dactylus far away (7) comprises fingerstall far away (7-1), left support plate (7-2) and right support plate (7-3), left support plate (7-2) and right support plate (7-3) are fixed in respectively fingerstall far away (7-1) left and right sides, lower end, and left support plate (7-2) and right support plate (7-3) lower end are inserted between middle finger joint left cover (6-1) and middle finger joint right cover plate (6-2), are enclosed within on the second rotating shaft (6-5);
Steel wire rope (4-19) two ends are fixed with respectively the first hollow steel ball (4-27) and the second hollow steel ball (4-28), 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) is through the through hole of slide block (4-16), after directive wheel (4-10) guiding, be wound around successively the first pulley (5-3) and the second pulley (6-3), be fixed in fingerstall far away (7-1) by the second hollow steel ball (4-28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310200283.XA CN103284821B (en) | 2013-05-27 | 2013-05-27 | Thumb structure of prosthetic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310200283.XA CN103284821B (en) | 2013-05-27 | 2013-05-27 | Thumb structure of prosthetic hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103284821A CN103284821A (en) | 2013-09-11 |
| CN103284821B true CN103284821B (en) | 2014-06-04 |
Family
ID=49086729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310200283.XA Active CN103284821B (en) | 2013-05-27 | 2013-05-27 | Thumb structure of prosthetic hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103284821B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400792B (en) * | 2014-10-20 | 2015-10-28 | 华中科技大学 | A kind of under-actuated finger closing internode flexible couplings |
| 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 |
| CN104665962B (en) * | 2015-02-05 | 2017-04-05 | 华南理工大学 | Wearable function strengthens machine hand system and its assisted finger and control method |
| CN106038003B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | 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 |
| 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 |
| 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 |
| CN110731842B (en) * | 2019-09-20 | 2021-11-19 | 上海健康医学院 | Pneumatic muscle driven thumb device for smart hand |
| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4946380A (en) * | 1989-05-30 | 1990-08-07 | University Of Southern California | Artificial dexterous hand |
| WO2002045918A1 (en) * | 2000-12-06 | 2002-06-13 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| EP2239106A1 (en) * | 2009-04-09 | 2010-10-13 | Disney Enterprises, Inc. | Robot hand with human-like fingers |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN103101055A (en) * | 2013-02-28 | 2013-05-15 | 何广平 | Tendon type under-driving self-adaptation multi-finger device |
-
2013
- 2013-05-27 CN CN201310200283.XA patent/CN103284821B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4946380A (en) * | 1989-05-30 | 1990-08-07 | University Of Southern California | Artificial dexterous hand |
| WO2002045918A1 (en) * | 2000-12-06 | 2002-06-13 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| EP2239106A1 (en) * | 2009-04-09 | 2010-10-13 | Disney Enterprises, Inc. | Robot hand with human-like fingers |
| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN103101055A (en) * | 2013-02-28 | 2013-05-15 | 何广平 | Tendon type under-driving self-adaptation multi-finger device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103284821A (en) | 2013-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103284821B (en) | Thumb structure of prosthetic hand | |
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN201998169U (en) | Mechanical arm system for nuclear detecting and emergency processing robot | |
| US9039057B2 (en) | Orientation controller, mechanical arm, gripper and components thereof | |
| JP6329647B2 (en) | Operation of the hand provided on the humanoid robot | |
| CN205835332U (en) | A kind of delivery type mechanical gripper | |
| US8467903B2 (en) | Tendon driven finger actuation system | |
| CN101844358B (en) | Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof | |
| CN208005702U (en) | A kind of lever subtended angle variable mechanical pawl | |
| CN203598078U (en) | Module type human-imitated artificial finger | |
| CN105150225A (en) | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel | |
| CN105818158B (en) | Flexible piece leverage puts down folder adaptive robot finger apparatus | |
| US10618182B2 (en) | Underactuated mechanical finger capable of linear motion with compensatory displacement, mechanical gripper and robot containing the same | |
| CN106799742B (en) | Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus | |
| JP5754835B2 (en) | Electric gripping member | |
| CN105580561A (en) | Self-adaption under-actuation picking tail end executing device and method | |
| CN108436957B (en) | Three-finger underactuated manipulator with shape self-adaption function | |
| CN111496828A (en) | Bionic under-actuated gripper with flexible tail end of robot | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN107344356B (en) | Anthropomorphic wrist finger series-parallel mechanism | |
| CN210061162U (en) | Two-degree-of-freedom multi-mode humanoid manipulator | |
| CN107953355B (en) | Bionic finger | |
| CN202241302U (en) | Bionic robot hand device | |
| CN201664922U (en) | Hand and forearm of humanoid robot artificial limb | |
| CN111452082A (en) | Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |