CN103538077B - A kind of multiple degrees of freedom bionic mechanical hand - Google Patents
A kind of multiple degrees of freedom bionic mechanical hand Download PDFInfo
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- CN103538077B CN103538077B CN201310476562.9A CN201310476562A CN103538077B CN 103538077 B CN103538077 B CN 103538077B CN 201310476562 A CN201310476562 A CN 201310476562A CN 103538077 B CN103538077 B CN 103538077B
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Abstract
The invention discloses a kind of multiple degrees of freedom bionic mechanical hand, comprise five fingers that are connected with machine palm matrix, these five fingers comprise thumb, forefinger, middle finger, the third finger, little finger of toe successively, and the identical and every finger of these four finger structures of forefinger, middle finger, the third finger and little finger of toe has separately two and bends and stretches the free degree; In these four fingers every finger comprise be provided with motor and transmission worm and gear housing, refer to root, finger tip, kinematic link; One end of transmission worm and gear is connected with the output shaft of motor, and the other end of transmission worm and gear is rotatedly connected with the one end that refers to root, refers to that the other end of root and the back segment of finger tip are rotatedly connected; Kinematic link one end and housing are rotatedly connected, and the other end of kinematic link is also rotatedly connected with the inner side of finger tip back segment; Multiple degrees of freedom bionic mechanical hand technological means of the present invention is simple and easy to do, manipulation flexibly, by can be in limited space providing and clench fist, hold key, hold the abundant finger motion ability such as ball to patient with computer control.
Description
Technical field
The present invention relates to the manipulator of medical rehabilitation instrument field, particularly a kind of multiple degrees of freedom machine is imitativeGreen hand.
Background technology
Medical science of recovery therapy is the new branch of science occurring mid-term in 20th century, and its object is by physical therapy, fortuneMoving therapy, life training, skill training, the multiple means such as speech training and psychological consultation alleviate and eliminatePatient's dysfunction, is fully played the function of health residual fraction most, makes up and rebuild troublePerson's afunction, reaches taking care of oneself of maximum possible, the ability of work and work. Along with various fromSo increase of disaster, accident, the quantity of extremity disabled persons is also increasing year by year. For the disabled person of amputation, current modal recovery measure is that artificial limb is installed, to obtain basic limb function. Along with sectionSkill develops various clampers, manipulator constantly emerges, but its number in the free degree with distribute on phase not to the utmostWith.
Through finding for existing technical literature retrieval.
Chinese invention patent publication number: CN202568539, title: the electronic control forearm of short two degrees of freedomArtificial limb. The free degree of wrist with two joints of finger only can be provided, complete the unexpected complexity of generally clenching fistHand exercise.
Chinese invention patent publication number: CN101836908, title: integral light and beautiful myoelectric hand.Only drive for the thumb free degree, cannot complete for complicated hand exercise equally.
Chinese invention patent publication number: CN1365877, title: multi-finger hand simulating. MakeWith bending and stretching of the bending and stretching of Electric Machine Control four fingers, an Electric Machine Control thumb, only can complete grabbing of clenching fistGet action, for holding key, hold baseball, stretch out the actions such as forefinger and cannot complete.
Chinese invention patent publication number: CN1418765, title: Dexterous Robot Hand Mechanism. For handThe motion of two dactylus referring to has been used two Electric Machine Control, seems too fat to move and redundancy owes to drive not as usingMoving interlock rationally.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of simple in structure, control is providedMultiple degrees of freedom bionic mechanical hand flexibly.
The present invention is achieved through the following technical solutions:
A kind of multiple degrees of freedom bionic mechanical hand, comprises machine palm matrix 3, connects with machine palm matrix 3Five fingers that connect, these five fingers comprise thumb 1-1, forefinger 1-2, middle finger 1-3, the third finger successively1-4, little finger of toe 1-5; The outside of described machine palm matrix 3 is coated with shell 2.
These four finger structures of described forefinger 1-2, middle finger 1-3, nameless 1-4 and little finger of toe 1-5 are identical,And every finger has separately two and bends and stretches the free degree;
In these four fingers every finger comprise be provided with motor 7 and transmission worm and gear 8 housing 6,Refer to root 9, finger tip 10, kinematic link 11;
One end of described transmission worm and gear 8 is connected with the output shaft of motor 7, transmission worm and gear 8The other end is rotatedly connected with the one end that refers to root 9, refers to that the other end of root 9 and the back segment of finger tip 10 are rotatedly connected;
Described kinematic link 11 one end and housing 6 are rotatedly connected, the other end of kinematic link 11 also with fingerThe inner side of point 10 back segments is rotatedly connected;
Described housing 6, refer to that root 9, finger tip 10, kinematic link 11 form four connecting rods, when referring to root 9When flexing, finger tip 10 is with respect to referring to root flexing.
Described thumb 1-1 has rotation and bends and stretches the free degree; Described thumb 1-1 is by the quiet housing 12 of thumbBe connected in machine palm matrix 3;
Described thumb 1-1 comprises the quiet housing 12 of thumb, thumb electric rotating machine 13, thumb rotation worm and gear14, thumb bends and stretches the moving housing 16 of motor 15, thumb, thumb bends and stretches worm and gear 17;
Described thumb electric rotating machine 13 is connected with a side of the quiet housing 12 of thumb, for driving thumb 1-1Rotary freedom;
Described thumb rotation worm and gear 14 is installed in the quiet housing 12 of thumb, this thumb rotation worm gear snailBar 14 is connected with the output shaft of thumb electric rotating machine 13;
Described thumb bends and stretches motor 15 and is connected with the opposite side of the quiet housing 12 of thumb, for driving thumb 1-1Bend and stretch the free degree;
The moving housing 16 of described thumb is connected with the worm gear of thumb rotation worm and gear 14, for along thumbThe rotation of 1-1 direction of rotation;
Described thumb bends and stretches worm and gear 17 and is installed in the moving housing 16 of thumb, and this thumb bends and stretches worm gear snailThe worm screw of bar 17 is bent and stretched motor 15 with thumb and is connected;
The root of described thumb 1-1 is connected with the worm gear that thumb bends and stretches worm and gear 17, and thumb 1-1 is relativeRotate in the moving housing 16 of thumb.
With respect to prior art, tool of the present invention has the following advantages and beneficial effect:
Multiple degrees of freedom bionic mechanical hand of the present invention, provides one to have 5 fingers, 10 freely to patientThe prosthetic hand of degree, by owing driving, every finger uses two of an Electric Machine Control to bend and stretch the free degree, thumbRefer to have rotation and bend and stretch the free degree.
Multiple degrees of freedom bionic mechanical hand technological means of the present invention is simple and easy to do, manipulation flexibly, by with calculatingMachine control can be in limited space provides and clenches fist, holds key, holds the abundant finger fortune such as ball to patientKinetic force.
Brief description of the drawings
Fig. 1 is that multiple degrees of freedom bionic mechanical hand of the present invention fills chlamydate structural representation;
Fig. 2 is that Fig. 1 removes the structural representation after shell;
Fig. 3 is in Fig. 1: the axonometric drawing structure of forefinger 1-2, middle finger 1-3, nameless 1-4, little finger of toe 1-5Schematic diagram;
Fig. 4 is Fig. 3 side view structural representation;
Fig. 5 is the structural representation of thumb 1-1 shown in Fig. 2;
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1 and Figure 2. Multiple degrees of freedom bionic mechanical hand of the present invention, comprise machine palm matrix 3,Five fingers that are connected with machine palm matrix 3, these five fingers comprise successively thumb 1-1, forefinger 1-2,Middle finger 1-3, nameless 1-4, little finger of toe 1-5; The outside of described machine palm matrix 3 is coated with shell 2,Be used for sheltering from motor internal and drive disk assembly.
These four finger structures of described forefinger 1-2, middle finger 1-3, nameless 1-4 and little finger of toe 1-5 identical andEvery finger has separately two and bends and stretches the free degree.
As shown in Figure 3, Figure 4. In these four fingers, every finger comprises motor 7 and transmission worm gear is installedThe housing 6 of worm screw 8, refer to root 9, finger tip 10, kinematic link 11.
As shown in Figure 3, Figure 4. One end of described transmission worm and gear 8 is connected with the output shaft of motor 7,The other end of transmission worm and gear 8 is rotatedly connected with the one end that refers to root 9, refers to the other end and the finger tip of root 910 back segment is rotatedly connected.
As shown in Figure 3, Figure 4. Described kinematic link 11 one end and housing 6 are rotatedly connected, kinematic link11 the other end is also rotatedly connected with the inner side of finger tip 10 back segments.
As shown in Figure 3, Figure 4. Described housing 6, refer to that root 9, finger tip 10, kinematic link 11 form oneIndividual four connecting rods, in the time referring to root 9 flexing, finger tip 10 is with respect to referring to root flexing.
As shown in Figure 5. Described thumb 1-1 has rotation and bends and stretches the free degree; Described thumb 1-1 passes through thumbRefer to that quiet housing 12 is connected in machine palm matrix 3.
As shown in Figure 5. Described thumb 1-1 comprises the quiet housing 12 of thumb, thumb electric rotating machine 13, thumbRotation worm and gear 14, thumb bend and stretch motor 15, the moving housing 16 of thumb, thumb and bend and stretch worm and gear 17;
As shown in Figure 5. Described thumb electric rotating machine 13 is connected with a side of the quiet housing 12 of thumb, forDrive the rotary freedom of thumb 1-1;
As shown in Figure 5. Described thumb rotation worm and gear 14 is installed in the quiet housing 12 of thumb, this thumbRefer to that rotation worm and gear 14 is connected with the output shaft of thumb electric rotating machine 13;
As shown in Figure 5. Described thumb bends and stretches motor 15 and is connected with the opposite side of the quiet housing 12 of thumb, usesIn the free degree of bending and stretching that drives thumb 1-1;
As shown in Figure 5. The moving housing 16 of described thumb is connected with the worm gear of thumb rotation worm and gear 14,For rotating along thumb 1-1 direction of rotation;
As shown in Figure 5. Described thumb bends and stretches worm and gear 17 and is installed in the moving housing 16 of thumb, this thumbRefer to that the worm screw of bending and stretching worm and gear 17 bends and stretches motor 15 with thumb and be connected;
As shown in Figure 5. The root of described thumb 1-1 is connected with the worm gear that thumb bends and stretches worm and gear 17,Thumb 1-1 rotates with respect to the moving housing 16 of thumb.
This multiple degrees of freedom bionic mechanical hand, provides one to have 5 fingers, 10 frees degree to patientProsthetic hand, by owing driving, every finger uses two of an Electric Machine Control to bend and stretch the free degree, thumb toolThere is rotation and bend and stretch the free degree.
Just can realize preferably as mentioned above the present invention.
Above-described embodiment is preferred embodiments of the present invention, but that embodiments of the present invention are not subject to is above-mentionedThe restriction of embodiment, other any do not deviate from the change of doing under Spirit Essence of the present invention and principle shouldFor equivalent substitute mode, be included in protection scope of the present invention.
Claims (2)
1. a multiple degrees of freedom bionic mechanical hand, comprise machine palm matrix (3), with machine palm matrix(3) five fingers that connect, these five fingers comprise thumb (1-1), forefinger (1-2), middle finger successively(1-3), nameless (1-4), little finger of toe (1-5), it is characterized in that:
Described forefinger (1-2), middle finger (1-3), nameless (1-4) and these four fingers of little finger of toe (1-5)Identical and the every finger of structure has separately two and bends and stretches the free degree; Every finger bag in these four fingersDraw together be provided with motor (7) and transmission worm and gear (8) housing (6), refer to root (9), finger tip (10),Kinematic link (11);
One end of described transmission worm and gear (8) is connected with the output shaft of motor (7), transmission worm gear snailThe other end of bar (8) is rotatedly connected with the one end that refers to root (9), refers to the other end and the finger tip (10) of root (9)Back segment be rotatedly connected;
Described kinematic link (11) one end and housing (6) are rotatedly connected, another of kinematic link (11)End is also rotatedly connected with the inner side of finger tip (10) back segment;
Described housing (6), refer to that root (9), finger tip (10), kinematic link (11) form four connecting rods,In the time referring to root (9) flexing, finger tip (10) is with respect to referring to root flexing;
Described thumb (1-1) has rotation and bends and stretches the free degree; Described thumb (1-1) is by the quiet shell of thumbBody (12) is connected in machine palm matrix (3);
Described thumb (1-1) comprises the quiet housing of thumb (12), thumb electric rotating machine (13), thumb rotationWorm and gear (14), thumb bend and stretch the moving housing (16) of motor (15), thumb, thumb bends and stretches worm and gear(17)；
Described thumb electric rotating machine (13) is connected with a side of the quiet housing of thumb (12), for driving thumbRefer to the rotary freedom of (1-1);
Described thumb rotation worm and gear (14) is installed in the quiet housing of thumb (12), this thumb rotationWorm and gear (14) is connected with the output shaft of thumb electric rotating machine (13);
Described thumb bends and stretches motor (15) and is connected with the opposite side of the quiet housing of thumb (12), for drivingThumb (1-1) bend and stretch the free degree;
Described thumb moves housing (16) and is connected with the worm gear of thumb rotation worm and gear (14), for edgeThe rotation of thumb (1-1) direction of rotation;
Described thumb bends and stretches worm and gear (17) and is installed in the moving housing (16) of thumb, and this thumb bends and stretchesThe worm screw of worm and gear (17) is bent and stretched motor (15) with thumb and is connected;
The root of described thumb (1-1) is connected with the worm gear that thumb bends and stretches worm and gear (17), thumb (1-1)With respect to moving housing (16) rotation of thumb.
2. multiple degrees of freedom bionic mechanical hand according to claim 1, is characterized in that: described machineThe outside of palm matrix (3) is coated with shell (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310476562.9A CN103538077B (en) | 2013-10-12 | 2013-10-12 | A kind of multiple degrees of freedom bionic mechanical hand |
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| CN201310476562.9A CN103538077B (en) | 2013-10-12 | 2013-10-12 | A kind of multiple degrees of freedom bionic mechanical hand |
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| CN103538077A CN103538077A (en) | 2014-01-29 |
| CN103538077B true CN103538077B (en) | 2016-05-04 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104586608B (en) * | 2015-02-05 | 2017-04-05 | 华南理工大学 | The wearable power-assisted finger controlled based on myoelectricity and its control method |
| CN104786219B (en) * | 2015-04-16 | 2016-05-25 | 浙江理工大学 | 360 degree multiple degrees of freedom apery pneumatic muscles manipulators |
| CN105082168A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Palm of two-dimensional thumb bionic hand |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| CN108852566A (en) * | 2018-07-26 | 2018-11-23 | 深圳市心流科技有限公司 | Finger module and artificial limb |
| WO2020082529A1 (en) * | 2018-10-24 | 2020-04-30 | 五邑大学 | Method for fabricating rigid/flexible coupling bionic manipulator arm and fingers thereof |
| CN209645148U (en) * | 2019-01-15 | 2019-11-19 | 浙江强脑科技有限公司 | Finger and artificial limb |
| CN110640774B (en) * | 2019-10-22 | 2021-10-29 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| CN111390943A (en) * | 2020-03-11 | 2020-07-10 | 北京海益同展信息科技有限公司 | Thumb rotating mechanism, bionic hand and bionic robot |
| RU2769584C1 (en) * | 2020-12-26 | 2022-04-04 | Зиновенко Егор Владимирович | Exoskeleton manipulation module, gripping apparatus of the exoskeleton manipulation module, finger of the gripping apparatus of the exoskeleton manipulation module |
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| CN203510239U (en) * | 2013-10-12 | 2014-04-02 | 华南理工大学 | Multi-freedom-degree machine bionic hand |
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| KR101201455B1 (en) * | 2012-07-31 | 2012-11-14 | 이춘우 | hand of robot |
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| US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
| EP1457294A1 (en) * | 2001-12-17 | 2004-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| CN1621206A (en) * | 2004-12-28 | 2005-06-01 | 北京航空航天大学 | Humanoid manipulator mechanism |
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| CN103538077A (en) | 2014-01-29 |
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Effective date of registration: 20230731 Address after: Building 3, Xunmei Science and Technology Plaza, No. 8 Keyuan Road, Science and Technology Park Community, Yuehai Street, Nanshan District, Shenzhen, Guangdong Province, 518000, 16248 Patentee after: Shenzhen Maijun Intelligent Technology Co.,Ltd. Address before: 511458 Guangdong, Guangzhou, Nansha District, 25 South Road, South China Road, Guangzhou, China Patentee before: SOUTH CHINA University OF TECHNOLOGY |