CN103690279A - Under-actuated prosthetic hand system based on planetary gear trains - Google Patents
Under-actuated prosthetic hand system based on planetary gear trains Download PDFInfo
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- CN103690279A CN103690279A CN201310643657.5A CN201310643657A CN103690279A CN 103690279 A CN103690279 A CN 103690279A CN 201310643657 A CN201310643657 A CN 201310643657A CN 103690279 A CN103690279 A CN 103690279A
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Abstract
The invention discloses an under-actuated prosthetic hand system based on planetary gear trains. The under-actuated prosthetic hand system is used for realizing continuous hand motions. The under-actuated prosthetic hand system comprises three parts, namely a driving system, a transmission system and a mechanical hand, wherein the driving system comprises stepping motors and the planetary gear trains, the transmission system comprises transmission mechanisms such as flexible shafts, worm gears and worm rods, the mechanical hand comprises a palm and five fingers, and each finger is provided with multiple rotational joints. The input of two stepping motors can be converted into the rotation of thirteen output flexible shafts by the planetary gear trains in the driving system through a cooperative action mode, thus the motion of each joint on the mechanical hand can be cooperatively controlled, and some grabbing motions in daily life and the motion of rotating a rehabilitation training ball can be realized by the mechanical hand. According to the under-actuated prosthetic hand system disclosed by the invention, complicated grabbing motions are realized just through a two-input mode, the motion of the mechanical hand can be controlled by a disabled person who is in lack of a hand through less but accurate muscle signals, and the under-actuated prosthetic hand system has the advantages that the flexibility is high, and the use is convenient.
Description
Technical field
The present invention relates to medical equipment technical field, particularly medical prosthetic hand system.
Background technology
While attempting rebuilding the people with disability's who loses a hands motor function, a challenging especially task is to set up the form that personalizes, and can correctly reappear the prosthetic hand of original exquisite motion.In order to realize this goal, this prosthetic hand needs to be applicable to various everyday actions, and bio signal interface that can amputee is controlled, as electromyographic signal and EEG signals.The robot that driving personalizes completely that has many advanced persons in the world today, they have mostly used more input to control each degree of freedom of hands, but due to existing electromyographic signal analysis and acquisition capability limited, the design of many existing bionic hands has adopted a kind of driving method of owing, and drives the quantity of inputting to be less than the quantity of output.Neurological latest developments show, the Coordinating Muscle mode that central nervous system controls hands is called as the cooperative effect to posture.The flexion/extension of the collaborative corresponding hand muscle of each position drives shape.Central nervous system has used the cooperative effect of posture, by adjusting each collaborative proportion (or being called coefficient), to realize different hand motions.Wherein, the cooperative effect in conjunction with two main positions has accounted for 84% in tens kinds of crawl postures.
These discoveries make effectively to control robot arm with less input becomes possibility, realizes synergism the largest the quantity that reduces power shaft of posture by frame for movement, will greatly reduce the cost of prosthetic hand.
Summary of the invention
The object of the invention is to make prosthetic hand in the mode of owing to drive, thereby two groups of inputs to be converted into 13 groups of collaborative output driving device handss by epicyclic train and complete different grasping movement.
For achieving the above object, the invention provides the prosthetic hand system based on epicyclic train, this system can realize the different motion of two inputs synthetic by the different gear ratio of many group epicyclic trains and different I/O modes, thereby each group output of collaborative control, by drive system, the effect of these outputs is delivered on mechanical hand again, due to each output corresponding each joint on mechanical hand, thereby can make mechanical hand complete different grasping movement.
This prosthetic hand system based on epicyclic train is by drive system, and drive system and mechanical hand three parts form.Drive system comprises two motors and comprises the gear-box of eight groups of gear trains.Motor is controlled by relatively easy integrated board and corresponding control sequence, in program, can reach by revising its rotation direction, angle and speed the object of accurate control.Gear-box is a most key ring in this invention, and it comprises two power shafts and 13 output shafts, and two power shafts are respectively by two step motor control, and 13 output shafts are controlled by seven groups of epicyclic trains and one group of common gear train.Seven groups of epicyclic trains pass through sun gear, (two kinds in three kinds of gears are as input for the different gear reduction ratios that planetary gear and week take turns and different I/O modes, remaining a kind of as output), two inputs are synthesized and are converted into 11 corresponding outputs, and one group of epicyclic train can corresponding a plurality of output.The effect of one group of remaining full depth tooth train is that independent input is converted into two groups of independent outputs by gear reduction ratio.
Drive system comprises that flexible axle and the worm and gear output shaft corresponding with flexible axle are connected on corresponding flexible axle by shaft coupling, the other end at flexible axle is fixed flexible axle and worm screw with shaft coupling equally, by worm screw, drive turbine again, to drive the motion of finger level palm corresponding joint.Therefore the speed reducing ratio that drive system is passed through worm and gear by the rotation of output shaft transforms the rotation for turbine, because flexible axle has good moment of torsion, add the speed reducing ratio of worm and gear 1:20, so it is original 1/20th that the driving error on flexible axle only has after on being embodied in turbine, so this driving-chain exists negligible driving error.Drive system also comprises the drive mechanisms such as slide bar and connecting rod.
Mechanical hand comprises palm, five fingers, 13 joints of respectively corresponding five fingers of 13 output shafts of drive system, comprise forefinger, middle finger, the third finger and little finger of toe metacarpophalangeal joints and proximal interphalangeal joint and a common abduction joint separately, and the interphalangeal joint of thumb, metacarpophalangeal joints, end rotary joint and abduction joint, forefinger, middle finger, the third finger and little finger of toe also comprise DIPJ, and a group far end interphalangeal joint and proximal interphalangeal joint are controlled by an output shaft.Palm portion has comprised upper and lower cover plates and has fixed five axis holes that finger is required, screw hole.In the inside of palm, have the driving mechanism of the abduction of a set of four fingers that drive by slide bar, Zhe Zu mechanism controls with flexible axle by one equally.For five fingers, the configuration of forefinger, middle finger, the third finger and little finger of toe is similar, and difference is only embodied in the length of each dactylus.The driving-chain of these four fingers be take linkage as basis, by the motion that is contained in the turbine drivening rod of metacarpophalangeal joint, thus the rotation of control interphalangeal joint and proximal interphalangeal joint.For thumb, consider the relative complexity of its structure, used wheel chain as the kind of drive, consider the rotational angle of flexible axle, at thumb end rotary joint place, used one group of less planetary reducer to realize suitable speed reducing ratio.
A kind ofly based on epicyclic train, owe to drive prosthetic hand system, this prosthetic hand system comprises drive system, drive system and mechanical hand, this drive system comprises motor and epicyclic gearbox, and epicyclic gearbox comprises power shaft and output shaft, and motor is connected with the power shaft of epicyclic gearbox; Mechanical hand comprises palm and five fingers, and finger is provided with mobilizable joint; And drive system comprises flexible axle and drive mechanism, flexible axle one end is connected with output shaft, and the other end of flexible axle is connected with each joint of mechanical hand via drive mechanism; Wherein, thus epicyclic gearbox can be converted into the rotation of output shaft by synergistic mode by the input of motor and by drive system, pass to the motion in each joint on mechanical hand Collaborative Control mechanical hand.
Preferably, epicyclic gearbox also comprises epicyclic train, full depth tooth train, idler shaft and dividing plate, every group of gear train includes input gear and output gear, operative gear system also comprises idle pulley, every group of gear train is between two adjacent dividing plates, and power shaft, output shaft and idler shaft all run through dividing plate and be fixedly connected with input gear, output gear and the idle pulley of each group gear train respectively by locking apparatus.
Preferably, epicyclic train comprises sun gear, all wheels, planetary gear, idle pulley and driven wheel, the rotation of two kinds of gears in sun gear, week wheel, planetary gear is controlled by two power shafts, and two kinds of gears of another kind of gear and this coordinate and the rotation that occurs passes to output shaft; Full depth tooth train is converted into the independent rotation input of every power shaft independently to rotate output.
Preferably, epicyclic gearbox comprises seven groups of epicyclic trains, one group of full depth tooth train, two power shafts, 13 output shafts, six roots of sensation idler shaft and nine dividing plates, seven groups of epicyclic trains synthesize the rotation input of two power shafts altogether and are converted into 11 kinds of rotations to be exported, one group of full depth tooth train is converted into two by the independent rotation input of two power shafts and independently rotates output, thereby makes drive system have 13 kinds of outputs; Drive system comprises 13 flexible axles, and one end of every flexible axle is fixedly connected with an output shaft of drive system by shaft coupling.
Preferably, drive mechanism comprises worm and gear and connecting rod, five fingers of mechanical hand comprise thumb, thumb comprises first knuckle, second knuckle and third knuckle, between adjacent dactylus, can mutually rotate and there is interphalangeal joint and metacarpophalangeal joints, the root of thumb also has end rotary joint and abduction joint, and wherein, end rotary joint is connected with a flexible axle; Abduction joint is connected with worm gear, and the worm screw coordinating with worm gear is connected with a flexible axle by shaft coupling; Metacarpophalangeal joints is connected with a flexible axle by worm and gear; And interphalangeal joint is connected with a flexible axle by connecting rod and worm and gear.
Preferably, the end rotary joint place of thumb is connected with small-sized reducing gear trochus, and small-sized reducing gear trochus is fixedly connected with a flexible axle by shaft coupling.
Preferably, metacarpophalangeal joint is also provided with one group of several pitch wheel that mesh with corresponding worm gear, one of them gear and thumb second knuckle are fixedly linked, worm gear is rotatably connected in thumb third knuckle, and corresponding worm screw nibbles merga pass shaft coupling with this worm gear and is fixedly connected with a flexible axle; One end of connecting rod is fixedly connected with thumb first knuckle, on the third knuckle of thumb, be rotatably connected with several pitch wheels and worm gear, the other end of one of them gear and thumb second knuckle and connecting rod is fixedly linked, be fixedly connected with another root flexible axle by shaft coupling with the worm screw of worm gear engagement, connecting rod is directly controlled the rotation of interphalangeal joint.
Preferably, drive mechanism comprises worm and gear and connecting rod, four fingers except thumb of mechanical hand comprise forefinger, middle finger, the third finger and little finger, these four fingers have similar size and all by finger pedestal, are connected with palm, every finger includes first knuckle, second knuckle, third knuckle and proximal interphalangeal joint, DIPJ and metacarpophalangeal joints, between adjacent dactylus, can mutually rotate, the third knuckle of each finger is rotatably connected with finger pedestal, one of them worm gear is fixedly connected with third knuckle, be fixedly connected with a flexible axle by shaft coupling with the worm screw of this worm gear engagement, another worm gear is rotatably connected with finger pedestal, the two ends of first connecting rod are rotatably connected with second knuckle with this worm gear respectively, the two ends of second connecting rod are rotatably connected with first knuckle with forefinger second knuckle respectively, are fixedly connected with by shaft coupling with the worm screw of this worm gear engagement with another root flexible axle.
Preferably, drive mechanism also comprises slide bar, slide bar is provided with groove, mechanical hand except thumb four fingers also there is common abduction joint, abduction joint has pushing member and three abduction elements, pushing member can slide along the groove in slide bar, pushing member is provided with three skewed slots, can slide in corresponding skewed slot respectively in one end of three abduction elements on pushing member, the finger pedestal of three fingers in the other end of three abduction elements and four fingers is fixedly linked and has the rotating shaft on palm that is fixed on separately, slide bar is connected with a flexible axle by shaft coupling, the rotation of flexible axle can be with moving slide-bar to rotate, thereby drive the front and back translation of pushing member, slide in one end of abduction element in skewed slot and the other end rotates around rotating shaft separately, thereby drive corresponding the rotating of finger pedestal of three fingers, realize the abduction exercise of four fingers.
Preferably, epicyclic gearbox has two or three power shafts.
Of the present invention based on epicyclic train owe drive prosthetic hand system to realize mechanical hand by this frame for movement of epicyclic train each points the cooperative effect in different joints, make the quantity of power shaft be reduced to two, reduced the cost of prosthetic hand, prosthetic hand can be simulated the grasping movement of staff well simultaneously.
Accompanying drawing explanation
Fig. 1 is the integral installation figure of owing to drive prosthetic hand system based on epicyclic train of the present invention;
Fig. 2 A is the schematic perspective view of the epicyclic gearbox of the drive system in Fig. 1;
Fig. 2 B is the explosive view of one group of epicyclic train in Fig. 2 A;
Fig. 2 C is the schematic perspective view of epicyclic train in Fig. 2 B;
Fig. 2 D is the side view of the epicyclic gearbox of the drive system in Fig. 2 A;
Fig. 2 E is the front elevation of the epicyclic gearbox of the drive system in Fig. 2 A;
Fig. 3 is the schematic diagram of one group of drive system based on flexible axle and worm and gear in Fig. 1;
Fig. 4 is that the mechanical hand in Fig. 1 is removed the schematic perspective view after upper cover plate;
Fig. 5 A is the transmission principle figure of the thumb of mechanical hand in Fig. 1;
Fig. 5 B is the transmission principle figure of the metacarpophalangeal joints of thumb in Fig. 5 A;
Fig. 6 A is the transmission principle figure of the forefinger of mechanical hand in Fig. 1;
Fig. 6 B be in Fig. 6 A forefinger the transmission principle figure of interphalangeal joint; And
Fig. 7 is the transmission principle figure of the abduction mechanism of mechanical hand in Fig. 1.
The specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present invention is elaborated, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and just for the connotation of technical solution of the present invention is described.
Fig. 1 shows and of the present inventionly based on epicyclic train, owes to drive the schematic perspective view after prosthetic hand entire system assembling.As shown in Figure 1, of the present invention based on epicyclic train owe drive prosthetic hand system to comprise mechanical hand 100, drive system 200 and drive system 300, wherein the two ends of drive system 200 are connected with drive system 300 with mechanical hand 100 respectively, thereby drive system 200 passes to mechanical hand 100 by the output of drive end 300, make mechanical hand 100 complete different actions.
Drive system 300 comprises two motors and epicyclic gearbox.In embodiment shown in figure, epicyclic gearbox comprises many group epicyclic trains and full depth tooth train.Two motors are controlled by integrated board and corresponding control sequence, and be connected with two power shafts of gear train, thereby by control sequence, set rotation direction, speed and the angle of motor with the input and output of accurate control step motor control epicyclic gearbox.
Fig. 2 A is the schematic perspective view of the epicyclic gearbox 301 of the drive system 300 in Fig. 1.As shown in Figure 2 A, epicyclic gearbox comprises that seven groups of epicyclic trains 10, one group of common gear train 20, two 30,13 output shafts 40 of power shaft, six roots of sensation idler shaft 50 and 60, ten three output shafts 40 of nine corrosion resistant plates expose the longer length of corrosion resistant plate than six roots of sensation idler shaft.It is pointed out that as required, the quantity of power shaft 30 can be also three etc.Corrosion resistant plate 60 can be also the dividing plate of other materials, and the quantity of the gear train that its quantity comprises according to epicyclic gearbox is determined.
Two power shafts 30 of epicyclic gearbox 301 are controlled by two motor (not shown) of drive system 300 respectively; 13 output shafts 40 are controlled by seven groups of epicyclic trains 10 and one group of common gear train 20; The idle pulley of installing on six roots of sensation idler shaft 50 is for changing the wherein direction of rotation of the output shaft of several groups of gear trains; All power shafts 30, output shaft 40 and idler shaft 50 run through respectively 60, nine corrosion resistant plates 60 of nine corrosion resistant plates and play the effect of separating eight groups of gear trains and strengthening system stability.Here, corrosion resistant plate 60 also can be for by suitable material, the plate-like piece of making such as plastics.
Fig. 2 B is the explosive view of one group of epicyclic train in Fig. 2 A.As shown in Figure 2 B, this group epicyclic train comprises sun gear 5, all wheels 4, planetary gear 7 and other equipment gears.The first input gear 1 is fixedly connected with first power shaft by locking apparatus 2, the first input gear 1 is provided with the pin hole matching and fixes by two pins with locking apparatus 2, and locking apparatus 2 is provided with two set screw hole and by screw, locking apparatus 2 is fixed on first power shaft together with the first input gear 1.Driven wheel 3 is meshed with the first input gear 1 and driven wheel 3 fixes by four pins and all wheels 4, thereby reached first power shaft, controls the object that all wheels rotate.Similarly, sun gear (i.e. the second input gear) 5 is fixedly connected with second power shaft by locking apparatus 6; Planetary gear 7 is engaged between all wheels 4 and sun gear 5 and by three round end pins 8 and driven wheel 9 and fixes; Output gear 11 is fixedly connected with output shaft by locking apparatus 12; Thereby idle pulley 89 is engaged between driven wheel 9 and output gear 11 and makes output gear 11 direction of rotation contrary with driven wheel 9.
Fig. 2 C is the schematic perspective view of epicyclic train in Fig. 2 B.As shown in Figure 2 C, after installation, the axis of driven wheel 3, all wheels 4, sun gear 5 and driven wheel 9 is all identical with the axis of second power shaft.The rotation of the first input gear 1 being fixedly connected with second power shaft with first power shaft respectively and sun gear (i.e. the second input gear) 5 is by the synthetic output gear 11 being fixedly connected with output shaft that passes to of gear train.
Fig. 2 D is the side view of the epicyclic gearbox of the drive system in Fig. 2 A; Seven groups of epicyclic trains 10 include sun gear, planetary gear, take turns and other equipment gears in week.In each group epicyclic train, two kinds of gears in taking turns in sun gear, planetary gear and week are as input, and another kind of gear is as output, and for example, in the epicyclic train shown in Fig. 2 B, all wheels and sun gear are as input, and planetary gear is as output.In one group of epicyclic train, can there are a plurality of output gears that are connected with output shaft by increasing equipment gear, because different gears coordinates, can cause different gear reduction ratios and different gear direction of rotation, thereby reach different output.In the present invention, seven groups of epicyclic trains 10 are total to the rotation input of two power shafts to synthesize and be converted into 11 kinds and rotate output, one group of full depth tooth train is converted into two independent rotations by the independent rotation input of two power shafts by gear reduction ratio and exports, thereby makes drive system have 13 kinds of outputs.
It is pointed out that epicyclic gearbox can comprise the power shafts that three or three are above, every power shaft is by a step motor control, the rotation of every group of gear train input can be as required any more than two or two from above-mentioned power shaft.
Be the front elevation of planet circular system, the as can be seen from the figure cross section of each power shaft, output shaft and idler shaft as shown in Figure 2 E.13 kinds of outputs of 13 output shafts of drive system 300 are respectively used to control the corresponding joint on mechanical hand 100.Particularly, as shown in Figure 2 E, and referring to Fig. 4, the corresponding thumb end of output shaft 41 rotary joint 61; The corresponding thumb metacarpophalangeal joints 62 of output shaft 42; The corresponding thumb interphalangeal joint 63 of output shaft 43; The corresponding thumb abduction of output shaft 44 joint 64; The corresponding forefinger metacarpophalangeal joints 65 of output shaft 45; The corresponding middle finger metacarpophalangeal joints 66 of output shaft 46; The corresponding nameless metacarpophalangeal joints 67 of output shaft 47; The corresponding little finger metacarpophalangeal joints 68 of output shaft 48; Output shaft 49 corresponding forefinger proximal interphalangeal joint 69A and forefinger DIPJ 69B; Proximal interphalangeal joint of finger 610A and middle distal interphalangeal joint of finger 610B in output shaft 410 correspondences; The corresponding nameless proximal interphalangeal joint 611A of output shaft 411 and nameless DIPJ 611B; Output shaft 412 corresponding little finger proximal interphalangeal joint 612A and little finger DIPJ 612B; The abduction joint 613 of the corresponding forefinger of output shaft 413, middle finger, the third finger and little finger.Detailed description about mechanical hand sees below.
Drive system 200 comprises 13 flexible axles and drive mechanism, and drive mechanism is for example worm and gear, slide bar and connecting rod.Fig. 3 is the schematic diagram of one group of drive system based on flexible axle and worm and gear in Fig. 1.As shown in Figure 3, output shaft 40 is fixedly connected with one end of corresponding flexible axle 13 by shaft coupling 14, and the other end of this flexible axle 13 is fixedly connected with worm screw 17 by shaft coupling 15, and worm screw 17 is meshed with worm gear 16.When drive system is controlled output shaft 40 rotation, also there is corresponding rotation in worm screw 17, and the worm gear 16 coordinating with worm screw 17 rotates, thus the motion of corresponding joint in the motion driving device hands of respective members in the motion driving device hands 100 of worm gear 16.The diameter of output shaft 40 is for example 2 millimeters, the diameter of flexible axle 13 is for example 3.2 millimeters, correspondingly, it is that 2 millimeters and other end internal diameter are 3.2 millimeters that shaft coupling 14 is made into one end internal diameter, and it is that 3.2 millimeters and other end internal diameter equate with worm screw end diameter that shaft coupling 15 is made into one end internal diameter.
This shows, drive system 200 is converted into the rotation of output shaft the rotation of turbine by the speed reducing ratio of worm and gear, thereby adopting well the material of transmitting torque to be made, flexible axle can effectively transmit the rotation of output shaft, and worm and gear speed reducing ratio is 1:20, being embodied in driving error on turbine less is only 1/20th of soft axle transmission error, so the driving error of this driving-chain can be ignored.
Mechanical hand comprises palm, five fingers, and take linkage as basic motion transmission chain.In order more clearly to find out mechanical hand internal mechanism, Fig. 4 shows mechanical hand and removes the schematic perspective view after upper cover plate.As shown in Figure 4, mechanical hand 100 comprises the abduction mechanism 52 of four fingers 19 and four fingers 19 of palm, thumb 18, structural similarity, wherein palm comprises upper and lower cover plates and fixes five axis hole and screw holes that finger is required, four fingers 19 comprise forefinger, middle finger, the third finger and little finger, and abduction mechanism 52 is positioned at palm inside.
As described above, 13 kinds of outputs of drive system 300 are respectively used to control the corresponding joint on mechanical hand 100: thumb 18 has interphalangeal joint 63, metacarpophalangeal joints 62, end rotary joint 61 and abduction joint 64; Point for example forefinger and there is DIPJ 69B, proximal interphalangeal joint 69A, metacarpophalangeal joints 65 for arbitrary in four fingers 19; Four fingers 19 also have a common abduction joint 613.
Fig. 5 A is the transmission principle figure of the thumb 18 of mechanical hand in Fig. 1, in order to see its internal structure clearly, has deleted in the drawings some members.The flexible axle (not shown) that one end is connected with output shaft 41 is connected with the shaft coupling 21 of thumb root in figure and reaches suitable speed reducing ratio to control the rotation of thumb end rotary joint 61 by a small-sized planetary reducer 22; The shaft coupling 23 with thumb abduction juxtra-articular of the flexible axle (not shown) that one end is connected with output shaft 44 is connected and by the cooperation of worm screw 24 and worm gear 25, controls the rotation in thumb abduction joint 64; The flexible axle (not shown) that one end is connected with output shaft 43 is connected with shaft coupling 26 and the driving-chain by worm screw 27, worm gear 28, gear 29, gear 33 and connecting rod 34 reaches the object of controlling thumb interphalangeal joint 63, its middle gear 33 is rotatably connected with thumb second knuckle 78, and the two ends of connecting rod 34 are fixedly connected with thumb first knuckle 84 with gear 33 respectively.
In Fig. 5 A, can not find out the dependency structure of controlling thumb metacarpophalangeal joints, therefore the transmission principle of thumb metacarpophalangeal joints is shown separately in Fig. 5 B.As shown in Figure 5 B, the flexible axle (not shown) that one end is connected with output shaft 42 is connected with shaft coupling 71 and passes motion to gear 74 by worm screw 75, worm gear 72, gear 86, gear 73, wherein worm gear 72 and gear 73 are rotatably connected in thumb third knuckle 85, gear 86 is fixedly connected with turbine 72, gear 74 is fixedly linked with thumb second knuckle 78, thereby the rotation of gear 74 has completed the rotation of thumb metacarpophalangeal joints.
Fig. 6 A is the transmission principle figure of the forefinger of mechanical hand in Fig. 1.As shown in Figure 6A, shaft coupling 35 is connected with the output shaft of forefinger DIPJ 69B with control forefinger proximal interphalangeal joint 69A, one end is connected to shaft coupling 76 with the flexible axle that the output shaft 45 of controlling forefinger metacarpophalangeal joints is connected, the output of output shaft 45 passes to worm screw 77 by flexible axle, the worm gear 79 coordinating with worm screw 77 is fixedly connected with forefinger third knuckle 83, and the rotation of worm gear 79 has completed the rotation of forefinger metacarpophalangeal joints.
In order clearly to find out the transmission principle of forefinger proximal interphalangeal joint 69A and forefinger DIPJ 69B, some members in Fig. 6 B, have been removed.As shown in Figure 6B, worm gear 37 is rotatably connected with forefinger third knuckle 83, and the two ends of connecting rod 38 are fixedly linked with worm gear 37 and forefinger second knuckle 82 respectively, and the two ends of connecting rod 39 are fixedly linked with forefinger second knuckle 82 and first knuckle 81 respectively.One end and output shaft 49(figure does not show) flexible axle that is connected is connected to shaft coupling 35, the output of output shaft 49 passes to worm screw 36 by flexible axle, and the driving-chain consisting of worm gear 37, connecting rod 38 and connecting rod 39 is controlled the rotation of forefinger proximal interphalangeal joint 69A and forefinger DIPJ 69B.
Its excess-three root finger, i.e. middle finger, the third finger and little finger, their transmission principle is similar to forefinger.
Fig. 7 shows the transmission principle figure of the abduction mechanism of mechanical hand.Output shaft 413 is connected with the shaft coupling 51 in abduction joint 613 by flexible axle, the rotation of output shaft 413 can be with moving slide-bar 55 to rotate, the pushing member 56 coordinating with slide bar 55 is along with the rotation generation translational motion of slide bar 55, pushing member 56 is provided with three skewed slots 57, along with the translational motion of pushing member 56, three abduction elements 53 can slide and rotate around the rotating shaft 54 of each self-retaining in corresponding skewed slot 57.As can be seen from Figure 4, three abduction elements 53 are fixedly linked with the finger pedestal 78 of corresponding forefinger, the third finger, little finger respectively, each finger pedestal 78 rotates along with the rotation of abduction element 53, thereby drives the abduction exercise of forefinger, the third finger, little finger.
Of the present invention based on epicyclic train owe drive prosthetic hand system to realize mechanical hand by this frame for movement of epicyclic train each points the cooperative effect in different joints, make the quantity of power shaft be reduced to two, reduced the cost of prosthetic hand, prosthetic hand can be simulated the grasping movement of staff well simultaneously.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned teachings of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (10)
- Based on epicyclic train owe drive a prosthetic hand system, it is characterized in that, described prosthetic hand system comprises drive system, drive system and mechanical hand, whereinDescribed drive system comprises motor and epicyclic gearbox, and described epicyclic gearbox comprises power shaft and output shaft, and described motor is connected with the power shaft of described epicyclic gearbox;Described mechanical hand comprises palm and five fingers, and described finger is provided with mobilizable joint; AndDescribed drive system comprises flexible axle and drive mechanism, and described flexible axle one end is connected with described output shaft, and the other end of described flexible axle is connected with each joint of described mechanical hand via described drive mechanism; Wherein,Thereby described epicyclic gearbox can be converted into the input of described motor the rotation of described output shaft and be passed to the motion in each joint on mechanical hand described in described mechanical hand Collaborative Control by described drive system by synergistic mode.
- 2. prosthetic hand system as claimed in claim 1, it is characterized in that, described epicyclic gearbox also comprises epicyclic train, full depth tooth train, idler shaft and dividing plate, every group of gear train includes input gear and output gear, operative gear system also comprises idle pulley, every group of gear train is between two adjacent dividing plates, and described power shaft, output shaft and idler shaft all run through dividing plate and be fixedly connected with input gear, output gear and the idle pulley of each group gear train respectively by locking apparatus.
- 3. prosthetic hand system as claimed in claim 2, it is characterized in that, described epicyclic train comprises sun gear, all wheels, planetary gear, idle pulley and driven wheel, the rotation of two kinds of gears in described sun gear, week wheel, planetary gear is controlled by two power shafts, and two kinds of gears of another kind of gear and this coordinate and the rotation that occurs passes to output shaft; Described full depth tooth train is converted into the independent rotation input of every power shaft independently to rotate output.
- 4. prosthetic hand system as claimed in claim 3, it is characterized in that, described epicyclic gearbox comprises seven groups of epicyclic trains, one group of full depth tooth train, two power shafts, 13 output shafts, six roots of sensation idler shaft and nine dividing plates, described seven groups of epicyclic trains synthesize the rotation input of described two power shafts altogether and are converted into 11 kinds of rotations to be exported, one group of full depth tooth train is converted into two by the independent rotation input of two power shafts and independently rotates output, thereby makes described drive system have 13 kinds of outputs; Described drive system comprises 13 flexible axles, and one end of every flexible axle is fixedly connected with an output shaft of described drive system by shaft coupling.
- 5. prosthetic hand system as claimed in claim 4, it is characterized in that, described drive mechanism comprises worm and gear and connecting rod, five fingers of described mechanical hand comprise thumb, described thumb comprises first knuckle, second knuckle and third knuckle, can mutually rotate and have interphalangeal joint and metacarpophalangeal joints between adjacent dactylus, and the root of thumb also has end rotary joint and abduction joint, whereinDescribed end rotary joint is connected with a flexible axle;Described abduction joint is connected with worm gear, and the worm screw coordinating with described worm gear is connected with a flexible axle by shaft coupling;Described metacarpophalangeal joints is connected with a flexible axle by worm and gear; AndDescribed interphalangeal joint is connected with a flexible axle by connecting rod and worm and gear.
- 6. prosthetic hand system as claimed in claim 5, is characterized in that, the end rotary joint place of described thumb is connected with small-sized reducing gear trochus, and described small-sized reducing gear trochus is fixedly connected with a flexible axle by shaft coupling.
- 7. prosthetic hand system as claimed in claim 5, it is characterized in that, described metacarpophalangeal joint is also provided with one group of several pitch wheel that mesh with corresponding worm gear, one of them gear and thumb second knuckle are fixedly linked, described worm gear is rotatably connected in thumb third knuckle, and corresponding worm screw nibbles merga pass shaft coupling with this worm gear and is fixedly connected with a flexible axle;One end of described connecting rod is fixedly connected with thumb first knuckle, on the third knuckle of thumb, be rotatably connected with several pitch wheels and worm gear, the other end of one of them gear and thumb second knuckle and described connecting rod is fixedly linked, be fixedly connected with another root flexible axle by shaft coupling with the worm screw of described worm gear engagement, described connecting rod is directly controlled the rotation of described interphalangeal joint.
- 8. prosthetic hand system as claimed in claim 4, it is characterized in that, described drive mechanism comprises worm and gear and connecting rod, four fingers except thumb of described mechanical hand comprise forefinger, middle finger, the third finger and little finger, these four fingers have similar size and all by finger pedestal, are connected with palm, every finger includes first knuckle, second knuckle, third knuckle and proximal interphalangeal joint, DIPJ and metacarpophalangeal joints, between adjacent dactylus, can mutually rotate, the third knuckle of each finger is rotatably connected with finger pedestal, wherein,A worm gear is fixedly connected with third knuckle, is fixedly connected with by shaft coupling with the worm screw of described worm gear engagement with a flexible axle;Another worm gear is rotatably connected with finger pedestal, the two ends of first connecting rod are rotatably connected with second knuckle with this worm gear respectively, the two ends of second connecting rod are rotatably connected with first knuckle with forefinger second knuckle respectively, are fixedly connected with by shaft coupling with the worm screw of this worm gear engagement with another root flexible axle.
- 9. prosthetic hand system as claimed in claim 8, it is characterized in that, described drive mechanism also comprises slide bar, described slide bar is provided with groove, described mechanical hand except thumb four fingers also there is common abduction joint, described abduction joint has pushing member and three abduction elements, described pushing member can slide along the groove in described slide bar, described pushing member is provided with three skewed slots, can slide in corresponding skewed slot respectively in one end of described three abduction elements on pushing member, the finger pedestal of three fingers in the other end of described three abduction elements and four fingers is fixedly linked and has the rotating shaft on palm that is fixed on separately, described slide bar is connected with a flexible axle by shaft coupling, the rotation of flexible axle can be with moving slide-bar to rotate, thereby drive the front and back translation of pushing member, slide in one end of abduction element in skewed slot and the other end rotates around rotating shaft separately, thereby drive corresponding the rotating of finger pedestal of described three fingers, realize the abduction exercise of four fingers.
- 10. prosthetic hand system as claimed in claim 3, is characterized in that, described epicyclic gearbox has two or three power shafts.
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| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105840763A (en) * | 2016-05-20 | 2016-08-10 | 哈尔滨工业大学 | Double-input and multi-output collaborative device based on differential planetary gears |
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| CN111194192A (en) * | 2017-08-22 | 2020-05-22 | 爱德华兹生命科学公司 | Gear drive mechanism for a heart valve delivery device |
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| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN104175319B (en) * | 2014-08-19 | 2015-12-30 | 东南大学 | For the variable displacement torque converter of under-actuated delicacy hand |
| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
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| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105840763A (en) * | 2016-05-20 | 2016-08-10 | 哈尔滨工业大学 | Double-input and multi-output collaborative device based on differential planetary gears |
| WO2018157643A1 (en) * | 2017-03-02 | 2018-09-07 | 上海岭先机器人科技股份有限公司 | Anthropomorphic full-drive five-finger dexterous robotic hand |
| CN106994694A (en) * | 2017-03-02 | 2017-08-01 | 上海岭先机器人科技股份有限公司 | A kind of anthropomorphic full driving the five fingers flexible manipulator |
| CN106903684A (en) * | 2017-04-26 | 2017-06-30 | 河北工业大学 | Truss manipulator based on planet circular system |
| CN111194192A (en) * | 2017-08-22 | 2020-05-22 | 爱德华兹生命科学公司 | Gear drive mechanism for a heart valve delivery device |
| CN109692061A (en) * | 2019-01-07 | 2019-04-30 | 北京理工大学 | A kind of Gear Planet Transmission type prosthetic hand |
| CN109692061B (en) * | 2019-01-07 | 2024-02-06 | 北京理工大学 | Planetary transmission type artificial limb 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 |
| CN111773038A (en) * | 2020-08-06 | 2020-10-16 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
| CN113069252A (en) * | 2021-03-30 | 2021-07-06 | 合肥工业大学 | Bevel gear connecting rod configuration bionic artificial limb |
| CN113069252B (en) * | 2021-03-30 | 2024-02-06 | 合肥工业大学 | Umbrella tooth connecting rod configuration bionic artificial limb |
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Inventor after: Xu Kai Inventor after: Zhu Xiangyang Inventor after: Liu Huan Inventor after: Du Yuheng Inventor after: Zhao Jiangran Inventor after: Liu Guoqing Inventor before: Xu Kai Inventor before: Liu Huan Inventor before: Du Yuheng Inventor before: Zhao Jiangran Inventor before: Liu Guoqing |
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