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 invention relates to the technical field of medical instruments, in particular to a medical prosthetic hand system.
Background
In an attempt to reconstruct the motor functions of disabled persons who have lost one hand, a particularly challenging task is to create a prosthetic hand that has an anthropomorphic appearance and can correctly replicate the original delicate motion. To achieve this goal, the prosthetic hand needs to be able to adapt to various daily activities and be controlled by the amputee's bio-signal interface, such as myoelectric signals and electroencephalogram signals. There are many advanced fully-driven anthropomorphic robotic hands in the world today, most of which use more inputs to control the various degrees of freedom of the hand, but many existing bionic hand designs use an under-driven approach, i.e., the number of driving inputs is less than the number of outputs, due to the limited ability to analyze and acquire the existing electromyographic signals. Recent advances in neurology suggest that the central nervous system controls the way muscle coordination of the hand, referred to as a synergistic effect on posture. The coordination of each position corresponds to the flexion/extension actuation of the hand muscles. The central nervous system uses the synergistic effect of gestures to achieve different hand movements by adjusting the specific gravity (or called coefficient) of each synergy. Of these, the synergistic effect of combining two principal positions accounts for about 84% of dozens of grab postures.
These findings make it possible to effectively control the robot hand with less input, and achieving the posture synergy and minimizing the number of input shafts by mechanical structure will greatly reduce the cost of the prosthetic hand.
Disclosure of Invention
The invention aims to convert two groups of input into thirteen groups of output in a coordinated manner by a prosthetic hand through a planetary gear train in an underactuated manner so as to drive a manipulator to complete different grabbing actions.
In order to achieve the purpose, the invention provides a prosthetic hand system based on a planetary gear train, which can realize different motion composition of two inputs through different transmission ratios and different input and output modes of a plurality of groups of planetary gear trains, thereby cooperatively controlling each group of outputs, and transmitting the effects of the outputs to a manipulator through a transmission system, wherein each output corresponds to each joint on the manipulator, so that the manipulator can complete different grabbing actions.
The artificial hand system based on the planetary gear train consists of a driving system, a transmission system and a mechanical hand. The drive system includes two stepper motors and a gearbox including eight sets of gear trains. The stepping motor is controlled by a relatively simple integrated board card and a corresponding control program, and the purpose of accurate control can be achieved by modifying the rotation direction, the angle and the speed of the stepping motor in the program. The gear box is the most critical ring in the invention, and comprises two input shafts and thirteen output shafts, wherein the two input shafts are respectively controlled by two stepping motors, and the thirteen output shafts are controlled by seven groups of planetary gear trains and a group of common gear trains. Seven groups of planetary gear trains synthesize and convert two inputs into corresponding eleven outputs through different gear reduction ratios of the sun gear, the planet gears and the peripheral gear and different input and output modes (namely two of the three gears are used as the inputs and the other one is used as the output), namely one group of planetary gear trains can correspond to a plurality of outputs. The remaining set of common gear trains function to convert a single input into two separate sets of outputs through a gear reduction ratio.
The transmission system comprises a flexible shaft and a worm gear output shaft corresponding to the flexible shaft, the worm gear output shaft is connected to the corresponding flexible shaft through a coupler, the flexible shaft and the worm are fixed at the other end of the flexible shaft through the coupler, and the worm drives the worm wheel to drive the corresponding joints of the fingers and the palm to move. Therefore, the transmission system converts the rotation of the output shaft into the rotation of the turbine through the reduction ratio of the worm gear and the worm, and because the flexible shaft has good torque and the reduction ratio of the worm gear and the worm is 1:20, the transmission error on the flexible shaft is only one twentieth of the original transmission error after being reflected on the turbine, and the transmission error of the transmission chain can be ignored. The transmission system also comprises a slide rod, a connecting rod and other transmission mechanisms.
The manipulator comprises a palm and five fingers, thirteen output shafts of the driving system respectively correspond to thirteen joints of the five fingers, and the thirteen output shafts comprise respective metacarpophalangeal joints, proximal interphalangeal joints and a common abduction joint of an index finger, a middle finger, a ring finger and a little finger, interphalangeal joints, metacarpophalangeal joints, tail end rotary joints and abduction joints of a thumb, the index finger, the middle finger, the ring finger and the little finger also comprise distal interphalangeal joints, and a group of distal interphalangeal joints and proximal interphalangeal joints are controlled by one output shaft. The palm part comprises an upper cover plate, a lower cover plate, shaft holes and screw holes, wherein the shaft holes and the screw holes are needed for fixing five fingers. A set of driving mechanisms which are driven by the sliding rod and are used for extending four fingers is arranged in the palm, and the set of driving mechanisms are also controlled by a flexible shaft. For five fingers, the configurations of the index finger, middle finger, ring finger and little finger are similar, and the difference is only reflected in the length of each knuckle. The four-finger transmission chain is based on a link mechanism, and a turbine arranged at the metacarpophalangeal joints drives the link to move, so that the rotation of the interphalangeal joints and the proximal interphalangeal joints is controlled. For the thumb, a gear chain is used as a transmission mode in consideration of the relative complexity of the structure of the thumb, and a group of smaller planetary gear reducers are used at the rotary joint at the tail end of the thumb in consideration of the rotation angle of a flexible shaft to achieve a proper reduction ratio.
An under-actuated prosthetic hand system based on a planetary gear train comprises a driving system, a transmission system and a manipulator, wherein the driving system comprises a stepping motor and a planetary gear box, the planetary gear box comprises an input shaft and an output shaft, and the stepping motor is connected with the input shaft of the planetary gear box; the manipulator comprises a palm and five fingers, and movable joints are arranged on the fingers; the transmission system comprises a flexible shaft and a transmission mechanism, one end of the flexible shaft is connected with the output shaft, and the other end of the flexible shaft is connected with each joint of the manipulator through the transmission mechanism; the planetary gear box can convert the input of the stepping motor into the rotation of an output shaft in a synergistic action mode and transmit the rotation to the manipulator through a transmission system, so that the motion of each joint on the manipulator is controlled in a synergistic mode.
Preferably, the planetary gear box further comprises a planetary gear train, a common gear train, an idler shaft and partition plates, each gear train comprises an input gear and an output gear, part of the gear trains further comprises the idler gear, each gear train is located between two adjacent partition plates, and the input shaft, the output shaft and the idler shaft penetrate through the partition plates and are fixedly connected with the input gear, the output gear and the idler gear of each gear train respectively through the fastening devices.
Preferably, the planetary gear train comprises a sun gear, a peripheral gear, a planet gear, an idler gear and a driving gear, wherein the rotation of two gears of the sun gear, the peripheral gear and the planet gear is controlled by two input shafts, and the rotation of the other gear matched with the two gears is transmitted to an output shaft; a common gear train converts the independent rotational input of each input shaft into an independent rotational output.
Preferably, the planetary gear box comprises seven groups of planetary gear trains, a group of common gear trains, two input shafts, thirteen output shafts, six idler shafts and nine clapboards, wherein the seven groups of planetary gear trains synthesize and convert the rotational inputs of the two input shafts into eleven rotational outputs, and the group of common gear trains convert the independent rotational inputs of the two input shafts into two independent rotational outputs, so that the driving system has thirteen outputs in total; the transmission system comprises thirteen flexible shafts, and one end of each flexible shaft is fixedly connected with one output shaft of the driving system through a coupler.
Preferably, the transmission mechanism comprises a worm gear and a connecting rod, five fingers of the manipulator comprise a thumb, the thumb comprises a first knuckle, a second knuckle and a third knuckle, adjacent knuckles can rotate mutually to form an interphalangeal joint and a metacarpophalangeal joint, the root of the thumb is also provided with a tail end rotary joint and an abduction joint, and the tail end rotary joint is connected with a flexible shaft; a worm wheel is connected to the abduction joint, and a worm matched with the worm wheel is connected with a flexible shaft through a coupler; the metacarpophalangeal joint is connected with a flexible shaft through a worm gear and a worm; and the interphalangeal joints are connected with a flexible shaft through a connecting rod and a worm gear.
Preferably, the rotary joint at the tail end of the thumb is connected with a small reduction gear, and the small reduction gear is fixedly connected with a flexible shaft through a coupler.
Preferably, the metacarpophalangeal joint is also provided with a group of a plurality of gears which are meshed with corresponding worm gears, wherein one gear is fixedly connected with the second knuckle of the thumb, the worm gears are rotatably connected with the third knuckle of the thumb, and the corresponding worm gears are meshed with the worm gears and fixedly connected with a flexible shaft through a coupling; one end of the connecting rod is fixedly connected with the first knuckle of the thumb, a plurality of gears and worm wheels which are meshed with each other are rotatably connected to the third knuckle of the thumb, one of the gears is fixedly connected with the second knuckle of the thumb and the other end of the connecting rod, the worm meshed with the worm wheel is fixedly connected with the other flexible shaft through a coupler, and the connecting rod directly controls the rotation of the interphalangeal joint.
Preferably, the transmission mechanism comprises a worm gear and a connecting rod, four fingers of the manipulator except for a thumb comprise an index finger, a middle finger, a ring finger and a little finger, the four fingers have similar sizes and are connected with the palm through finger bases, each finger comprises a first knuckle, a second knuckle, a third knuckle, a near-end interphalangeal joint, a far-end interphalangeal joint and a metacarpophalangeal joint, adjacent knuckles can rotate mutually, the third knuckle of each finger is rotatably connected with the finger bases, one worm gear is fixedly connected with the third knuckle, and a worm meshed with the worm gear is fixedly connected with one flexible shaft through a coupling; the other worm wheel is rotatably connected with the finger base, two ends of the first connecting rod are rotatably connected with the worm wheel and the second knuckle respectively, two ends of the second connecting rod are rotatably connected with the second knuckle of the index finger and the first knuckle respectively, and the worm meshed with the worm wheel is fixedly connected with the other flexible shaft through a coupler.
Preferably, the transmission mechanism further comprises a sliding rod, a groove is arranged on the sliding rod, four fingers of the manipulator except for the thumb also have a common abduction joint, the abduction joint is provided with a pushing element and three abduction elements, the pushing element can slide along the groove in the sliding rod, the pushing element is provided with three chutes, one ends of the three abduction elements can respectively slide in the corresponding chutes on the pushing element, the other ends of the three abduction elements are fixedly connected with finger bases of three fingers of the four fingers and are provided with respective rotating shafts fixed on a palm, the sliding rod is connected with a flexible shaft through a coupling, the rotation of the flexible shaft can drive the sliding rod to rotate, thereby driving the pushing element to move forwards and backwards, one end of the abduction element slides in the chute and the other end rotates around the respective rotating shaft, thereby driving the finger bases of the three fingers to correspondingly rotate and realizing the abduction motion of the four fingers.
Preferably, the planetary gearbox has two or three input shafts.
The underactuated prosthetic hand system based on the planetary gear train realizes the synergistic effect of different joints of each finger of the manipulator through the mechanical structure of the planetary gear train, so that the number of the input shafts is reduced to two, the cost of the prosthetic hand is reduced, and meanwhile, the prosthetic hand can well simulate the grabbing action of the hand.
Drawings
FIG. 1 is an overall assembly view of an under-actuated prosthetic hand system based on a planetary gear train of the present invention;
FIG. 2A is a schematic perspective view of a planetary gearbox of the drive system of FIG. 1;
FIG. 2B is an exploded view of one set of planetary gear trains of FIG. 2A;
FIG. 2C is a perspective view of the planetary gear system of FIG. 2B;
FIG. 2D is a side view of the planetary gearbox of the drive system of FIG. 2A;
FIG. 2E is a front view of the planetary gearbox of the drive system of FIG. 2A;
FIG. 3 is a schematic diagram of a group of transmission systems based on a flexible shaft and a worm gear in FIG. 1;
FIG. 4 is a perspective view of the robot of FIG. 1 with the upper cover removed;
FIG. 5A is a schematic diagram of the thumb drive of the manipulator of FIG. 1;
FIG. 5B is a schematic view of the drive train for the metacarpophalangeal joint of the thumb of FIG. 5A;
FIG. 6A is a schematic diagram of the transmission of the index finger of the manipulator of FIG. 1;
FIG. 6B is a schematic diagram of the transmission of the interphalangeal joint of the index finger of FIG. 6A; and
fig. 7 is a schematic diagram of the drive of the extending mechanism of the robot of fig. 1.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
Fig. 1 shows a perspective view of the integrally assembled under-actuated prosthetic hand system based on a planetary gear train according to the present invention. As shown in fig. 1, the underactuated prosthetic hand system based on the planetary gear train of the present invention includes a robot 100, a transmission system 200 and a driving system 300, wherein both ends of the transmission system 200 are connected to the robot 100 and the driving system 300, respectively, and the transmission system 200 transmits the output of the driving end 300 to the robot 100 so that the robot 100 performs various motions.
The drive system 300 includes two stepper motors and a planetary gearbox. In the embodiment shown in the figures, the planetary gearbox comprises a plurality of sets of planetary gear trains and a common gear train. The two stepping motors are controlled by the integrated board card and corresponding control programs and are connected with two input shafts of the gear train, and the rotation direction, speed and angle of the stepping motors are set through the control programs so as to accurately control the stepping motors and control the input and output of the planetary gear box.
Fig. 2A is a perspective view of the planetary gearbox 301 of the drive system 300 of fig. 1. As shown in fig. 2A, the planetary gear box includes seven sets of planetary gears 10, a common set of gear trains 20, two input shafts 30, thirteen output shafts 40, six idler shafts 50, and nine stainless steel plates 60, and thirteen output shafts 40 are exposed to the stainless steel plates for a longer length than six idler shafts. Note that the number of the input shafts 30 may be three, or the like, as necessary. The stainless steel plate 60 may be a partition plate of other material, and the number thereof is determined according to the number of gear trains included in the planetary gear box.
The two input shafts 30 of the planetary gearbox 301 are respectively controlled by two stepping motors (not shown) of the driving system 300; thirteen output shafts 40 are controlled by seven sets of planetary gears 10 and a common set of gear trains 20; six idler shafts 50 are mounted on the idler shaft for changing the rotation direction of the output shaft in several sets of gear trains; all the input shaft 30, the output shaft 40 and the idler shaft 50 respectively penetrate through nine stainless steel plates 60, and the nine stainless steel plates 60 play roles in separating eight groups of gear trains and enhancing the stability of the system. Here, the stainless steel plate 60 may also be a plate-like member made of a suitable material, such as plastic.
FIG. 2B is an exploded view of one set of planetary gear trains of FIG. 2A. As shown in fig. 2B, the planetary gear set includes a sun gear 5, a ring gear 4, a planetary gear 7, and other auxiliary gears. First input gear 1 is through tight setting device 2 and first input shaft fixed connection, is equipped with assorted cotter hole on first input gear 1 and the tight setting device 2 and fixes mutually through two pins, is equipped with two tight setting screw holes on the tight setting device 2 and fixes tight setting device 2 on first input shaft together with first input gear 1 through the screw. The driving gear 3 is meshed with the first input gear 1, and the driving gear 3 is fixed with the peripheral wheel 4 through four pins, so that the purpose that the first input shaft controls the peripheral wheel to rotate is achieved. Similarly, the sun gear (i.e. the second input gear) 5 is fixedly connected to the second input shaft by the tightening device 6; the planet wheel 7 is meshed between the peripheral wheel 4 and the sun wheel 5 and is fixed with the driving gear 9 through three round-head pins 8; the output gear 11 is fixedly connected with an output shaft through a fastening device 12; the idler gear 89 is engaged between the drive gear 9 and the output gear 11 so that the output gear 11 rotates in the opposite direction to the drive gear 9.
Fig. 2C is a perspective view of the planetary gear system of fig. 2B. After installation, the axes of the drive gear 3, the peripheral gear 4, the sun gear 5 and the drive gear 9 are all the same as the axis of the second input shaft, as shown in fig. 2C. The rotation of the first input gear 1 and the sun gear (i.e., the second input gear) 5, which are fixedly connected to the first input shaft and the second input shaft, respectively, is transmitted to the output gear 11 fixedly connected to the output shaft by the combination of the gear trains.
FIG. 2D is a side view of the planetary gearbox of the drive system of FIG. 2A; the seven sets of planetary gear trains 10 each include a sun gear, a planet gear, a peripheral gear, and other auxiliary gears. In each set of planetary gear trains, two of the sun gear, the planet gears and the ring gear serve as inputs and the other serves as an output, for example, in the planetary gear train shown in fig. 2B, the ring gear and the sun gear serve as inputs and the planet gears serve as outputs. A group of planetary gear trains can be provided with a plurality of output gears connected with an output shaft by adding auxiliary gears, and different gear reduction ratios and different gear rotating directions can be caused by different gear matching, so that different outputs can be achieved. The seven groups of planetary gear trains 10 of the invention jointly synthesize the rotation inputs of two input shafts and convert the rotation inputs into eleven rotation outputs, and one group of common gear trains convert the single rotation inputs of the two input shafts into two single rotation outputs through a gear reduction ratio, so that the driving system has thirteen outputs.
It should be noted that the planetary gearbox may include three or more input shafts, each input shaft being controlled by a stepper motor, and the rotational input to each set of gear trains may be from any two or more of the input shafts as desired.
As shown in fig. 2E, which is a front view of the planetary gear train, the cross-sections of the respective input shaft, output shaft and idler shaft can be seen. Thirteen outputs of the thirteen output shafts of the drive system 300 are used to control the corresponding joints on the manipulator 100, respectively. Specifically, as shown in fig. 2E, and with reference to fig. 4, the output shaft 41 corresponds to the thumb tip rotary joint 61; the output shaft 42 corresponds to the thumb metacarpophalangeal joint 62; the output shaft 43 corresponds to the interphalangeal joint 63; the output shaft 44 corresponds to the thumb abduction joint 64; the output shaft 45 corresponds to the index finger metacarpophalangeal joint 65; the output shaft 46 corresponds to the middle metacarpophalangeal joint 66; the output shaft 47 corresponds to the ring finger metacarpophalangeal joint 67; the output shaft 48 corresponds to the little finger metacarpophalangeal joint 68; the output shaft 49 corresponds to the proximal interphalangeal joint 69A of the index finger and the distal interphalangeal joint 69B of the index finger; the output shaft 410 corresponds to the proximal interphalangeal joint 610A of the middle finger and the distal interphalangeal joint 610B of the middle finger; the output shaft 411 corresponds to a proximal interphalangeal joint 611A of the ring finger and a distal interphalangeal joint 611B of the ring finger; the output shaft 412 corresponds to the proximal interphalangeal joint 612A of the little finger and the distal interphalangeal joint 612B of the little finger; the output shaft 413 corresponds to the abduction joints 613 of the index, middle, ring and little fingers. Details regarding the robot are described below.
The transmission system 200 includes thirteen flexible shafts and transmission mechanisms, such as worm gears, sliding rods, and connecting rods. Fig. 3 is a schematic diagram of a group of transmission systems based on a flexible shaft and a worm gear in fig. 1. As shown in fig. 3, the output shaft 40 is fixedly connected with one end of the corresponding flexible shaft 13 through a coupling 14, the other end of the flexible shaft 13 is fixedly connected with a worm 17 through a coupling 15, and the worm 17 is meshed with the worm wheel 16. When the driving system controls the output shaft 40 to rotate, the worm 17 also rotates correspondingly, the worm wheel 16 matched with the worm 17 rotates, and the motion of the worm wheel 16 drives the motion of corresponding components in the manipulator 100 so as to drive the motion of corresponding joints in the manipulator. The diameter of the output shaft 40 is 2 mm, for example, the diameter of the flexible shaft 13 is 3.2 mm, correspondingly, the coupling 14 is made to have an inner diameter of 2 mm at one end and an inner diameter of 3.2 mm at the other end, and the coupling 15 is made to have an inner diameter of 3.2 mm at one end and an inner diameter equal to the diameter of the end of the worm at the other end.
Therefore, the transmission system 200 converts the rotation of the output shaft into the rotation of the worm wheel through the reduction ratio of the worm wheel and the worm, the flexible shaft is made of materials capable of well transmitting torque, so that the rotation of the output shaft can be effectively transmitted, the reduction ratio of the worm wheel and the worm is 1:20, the transmission error reflected on the worm wheel is smaller and is only one twentieth of the transmission error of the flexible shaft, and therefore the transmission error of the transmission chain can be ignored.
The manipulator comprises a palm, five fingers and a motion transmission chain based on a link mechanism. Fig. 4 is a perspective view of the robot with the upper cover removed, in order to clearly see the internal mechanism of the robot. As shown in fig. 4, the manipulator 100 includes a palm including upper and lower cover plates and shaft holes and screw holes required to fix five fingers, a thumb 18, four fingers 19 having similar structures and a deployment mechanism 52 for the four fingers 19, the four fingers 19 including an index finger, a middle finger, a ring finger and a little finger, and the deployment mechanism 52 being located inside the palm.
As described above, the thirteen outputs of the drive system 300 are used to control the respective joints on the manipulator 100: the thumb 18 has an interphalangeal joint 63, a metacarpophalangeal joint 62, a distal revolute joint 61 and a abduction joint 64; any one of the four fingers 19, for example, the index finger, has a distal interphalangeal joint 69B, a proximal interphalangeal joint 69A, a metacarpophalangeal joint 65; the four fingers 19 also have a common abduction joint 613.
Fig. 5A is a schematic diagram of the drive for the thumb 18 of the manipulator of fig. 1, with some components removed for clarity of the internal structure. A flexible shaft (not shown) with one end connected with the output shaft 41 is connected with a coupling 21 at the root of the thumb in the figure and achieves a proper reduction ratio through a small planetary gear reducer 22 so as to control the rotation of a rotary joint 61 at the tail end of the thumb; a flexible shaft (not shown) with one end connected with the output shaft 44 is connected with a coupling 23 near the thumb abduction joint and controls the rotation of the thumb abduction joint 64 through the matching of the worm 24 and the worm wheel 25; a flexible shaft (not shown) with one end connected with the output shaft 43 is connected with the coupling 26 and achieves the purpose of controlling the interphalangeal joint 63 of the thumb through a transmission chain of the worm 27, the worm wheel 28, the gear 29, the gear 33 and the connecting rod 34, wherein the gear 33 is rotatably connected with the second knuckle 78 of the thumb, and the two ends of the connecting rod 34 are fixedly connected with the gear 33 and the first knuckle 84 of the thumb respectively.
The related structure controlling the metacarpophalangeal joint of the thumb cannot be seen in fig. 5A, and therefore the transmission principle of the metacarpophalangeal joint of the thumb is shown separately in fig. 5B. As shown in fig. 5B, a flexible shaft (not shown) having one end connected to the output shaft 42 is connected to the coupling 71 and transmits the motion to the gear 74 through the worm 75, the worm wheel 72, the gear 86 and the gear 73, wherein the worm wheel 72 and the gear 73 are rotatably connected to the third knuckle 85 of the thumb, the gear 86 is fixedly connected to the worm wheel 72, and the gear 74 is fixedly connected to the second knuckle 78 of the thumb, so that the rotation of the gear 74 completes the rotation of the metacarpophalangeal joint of the thumb.
Fig. 6A is a schematic diagram of the transmission of the index finger of the manipulator of fig. 1. As shown in fig. 6A, the coupling 35 is connected to the output shaft controlling the proximal interphalangeal joint 69A of the index finger and the distal interphalangeal joint 69B of the index finger, the flexible shaft connected to the output shaft 45 controlling the metacarpophalangeal joint of the index finger at one end is connected to the coupling 76, the output of the output shaft 45 is transmitted to the worm 77 through the flexible shaft, the worm wheel 79 matched with the worm 77 is fixedly connected to the third knuckle 83 of the index finger, and the rotation of the worm wheel 79 completes the rotation of the metacarpophalangeal joint of the.
In order to clearly see the transmission principle of the proximal interphalangeal joint 69A of the index finger and the distal interphalangeal joint 69B of the index finger, some components are removed in FIG. 6B. As shown in FIG. 6B, the worm wheel 37 is rotatably connected to the third knuckle 83 of the index finger, the two ends of the connecting rod 38 are fixedly connected to the worm wheel 37 and the second knuckle 82 of the index finger, respectively, and the two ends of the connecting rod 39 are fixedly connected to the second knuckle 82 of the index finger and the first knuckle 81 of the index finger, respectively. A flexible shaft with one end connected with an output shaft 49 (not shown) is connected to the coupling 35, the output of the output shaft 49 is transmitted to the worm 36 through the flexible shaft, and the rotation of the proximal interphalangeal joint 69A of the forefinger and the distal interphalangeal joint 69B of the forefinger is controlled through a transmission chain consisting of the worm wheel 37, the connecting rod 38 and the connecting rod 39.
The other three fingers, namely the middle finger, the ring finger and the little finger, have the transmission principle similar to that of the index finger.
Fig. 7 shows a transmission diagram of the abduction mechanism of the robot arm. The output shaft 413 is connected with the coupling 51 in the abduction joint 613 through a flexible shaft, the rotation of the output shaft 413 can drive the sliding rod 55 to rotate, the pushing element 56 matched with the sliding rod 55 generates translational motion along with the rotation of the sliding rod 55, three inclined grooves 57 are arranged on the pushing element 56, and along with the translational motion of the pushing element 56, the three abduction elements 53 can slide in the corresponding inclined grooves 57 and rotate around the rotating shafts 54 which are respectively fixed. As can be seen from fig. 4, the three abduction elements 53 are respectively fixedly connected with the finger bases 78 of the corresponding index finger, ring finger and little finger, and each finger base 78 rotates along with the rotation of the abduction element 53, so as to drive the abduction motion of the index finger, ring finger and little finger.
The underactuated prosthetic hand system based on the planetary gear train realizes the synergistic effect of different joints of each finger of the manipulator through the mechanical structure of the planetary gear train, so that the number of the input shafts is reduced to two, the cost of the prosthetic hand is reduced, and meanwhile, the prosthetic hand can well simulate the grabbing action of the hand.
While the preferred embodiments of the present invention have been illustrated and described in detail, it should be understood that various changes and modifications of the invention can be effected therein by those skilled in the art after reading the above teachings of the invention. Such equivalents are intended to fall within the scope of the claims appended hereto.
Claims (10)
1. An under-actuated prosthetic hand system based on a planetary gear train is characterized by comprising a driving system, a transmission system and a mechanical hand, wherein the driving system, the transmission system and the mechanical hand are arranged in a combined mode
The driving system comprises a stepping motor and a planetary gear box, the planetary gear box comprises an input shaft and an output shaft, and the stepping motor is connected with the input shaft of the planetary gear box;
the manipulator comprises a palm and five fingers, and movable joints are arranged on the fingers; and
the transmission system comprises a flexible shaft and a transmission mechanism, one end of the flexible shaft is connected with the output shaft, and the other end of the flexible shaft is connected with each joint of the manipulator through the transmission mechanism; wherein,
the planetary gear box can convert the input of the stepping motor into the rotation of the output shaft in a cooperative action mode and transmit the rotation to the mechanical arm through the transmission system so as to cooperatively control the motion of each joint on the mechanical arm.
2. A prosthetic hand system according to claim 1, wherein the planetary gearbox further comprises planetary gear trains, a common gear train, idler shafts and spacers, each train comprising an input gear and an output gear, some of the gear trains further comprising an idler, each train being located between two adjacent spacers, the input shaft, the output shaft and the idler shaft each extending through a spacer and being fixedly connected to the input gear, the output gear and the idler of each train by tightening means.
3. A prosthetic hand system according to claim 2, wherein the epicyclic gear train comprises a sun gear, a peripheral gear, planet gears, an idler gear and a drive gear, the rotation of two of the sun gear, the peripheral gear and the planet gears being controlled by two input shafts, the rotation of the other gear in cooperation with the two gears being transmitted to the output shaft; the common gear train converts the independent rotational input of each input shaft into an independent rotational output.
4. A prosthetic hand system according to claim 3, wherein the planetary gear box comprises seven sets of planetary gears which combine and convert the rotational inputs of the two input shafts into eleven rotational outputs, a set of common gear trains which convert the independent rotational inputs of the two input shafts into two independent rotational outputs, such that the drive system has thirteen outputs, a set of common gear trains, thirteen output shafts, six idler shafts and nine bulkheads; the transmission system comprises thirteen flexible shafts, and one end of each flexible shaft is fixedly connected with one output shaft of the driving system through a coupler.
5. The prosthetic hand system of claim 4, wherein the transmission comprises a worm gear and a connecting rod, wherein the five fingers of the manipulator comprise a thumb comprising a first knuckle, a second knuckle and a third knuckle, wherein adjacent knuckles are rotatable with respect to each other to define an interphalangeal joint and a metacarpophalangeal joint, and wherein the base of the thumb further defines a distal revolute joint and a abduction joint, wherein,
the tail end rotary joint is connected with a flexible shaft;
a worm wheel is connected to the abduction joint, and a worm matched with the worm wheel is connected with a flexible shaft through a coupler;
the metacarpophalangeal joint is connected with a flexible shaft through a worm gear and a worm; and
the interphalangeal joint is connected with a flexible shaft through a connecting rod and a worm gear.
6. The prosthetic hand system of claim 5, wherein a small reduction gear is connected to a distal rotary joint of the thumb and fixedly connected to a flexible shaft by a coupling.
7. A prosthetic hand system as claimed in claim 5, wherein a plurality of intermeshing gears are provided at the metacarpophalangeal joints in mesh with respective worm gears, one of which is fixedly connected to the second knuckle of the thumb, the worm gear being rotatably connected to the third knuckle of the thumb, the respective worm being in mesh with the worm gear and fixedly connected to a flexible shaft by means of a coupling;
one end of the connecting rod is fixedly connected with the first knuckle of the thumb, a plurality of gears and worm gears which are meshed with each other are rotatably connected to the third knuckle of the thumb, one of the gears is fixedly connected with the second knuckle of the thumb and the other end of the connecting rod, the worm meshed with the worm gear is fixedly connected with the other flexible shaft through a coupler, and the connecting rod directly controls the rotation of the interphalangeal joint.
8. The prosthetic hand system of claim 4, wherein the transmission mechanism includes a worm gear and a connecting rod, the four fingers of the manipulator other than the thumb include an index finger, a middle finger, a ring finger and a small finger, the four fingers being of similar size and each being connected to the palm of the hand by a finger base, each finger including a first knuckle, a second knuckle, a third knuckle, and a proximal interphalangeal joint, a distal interphalangeal joint and a metacarpophalangeal joint, adjacent knuckles being mutually rotatable, the third knuckle of each finger being rotatably connected to the finger base, wherein,
a worm wheel is fixedly connected with the third knuckle, and a worm meshed with the worm wheel is fixedly connected with a flexible shaft through a coupling;
the other worm wheel is rotatably connected with the finger base, two ends of the first connecting rod are rotatably connected with the worm wheel and the second knuckle respectively, two ends of the second connecting rod are rotatably connected with the second knuckle of the index finger and the first knuckle respectively, and the worm meshed with the worm wheel is fixedly connected with the other flexible shaft through a coupler.
9. A prosthetic hand system according to claim 8, wherein the transmission mechanism further comprises a sliding bar having a slot, four fingers of the manipulator other than the thumb having a common abduction joint having a pushing element and three abduction elements, the pushing element being slidable along the slot in the sliding bar, the pushing element having three inclined slots, one end of each of the three abduction elements being slidable in a corresponding inclined slot in the pushing element, the other end of each of the three abduction elements being fixed to a finger base of three of the four fingers and having a respective rotary shaft fixed to the palm, the sliding bar being connected to a flexible shaft by a coupling, rotation of the flexible shaft driving the sliding bar to move the pushing element to translate back and forth, rotation of the abduction elements having one end sliding in the inclined slots and the other end rotating about the respective rotary shaft, thereby driving the finger bases of the three fingers to correspondingly rotate and realizing the abduction motion of the four fingers.
10. A prosthetic hand system according to claim 3, wherein the planetary gearbox has two or three input 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 |
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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 |
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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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| 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 |
| CN116652992A (en) * | 2023-07-28 | 2023-08-29 | 哈尔滨工业大学 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
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