CN103690279B - A kind of drive lacking prosthetic hand system based on epicyclic train - Google Patents
A kind of drive lacking prosthetic hand system based on epicyclic train Download PDFInfo
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- CN103690279B CN103690279B CN201310643657.5A CN201310643657A CN103690279B CN 103690279 B CN103690279 B CN 103690279B CN 201310643657 A CN201310643657 A CN 201310643657A CN 103690279 B CN103690279 B CN 103690279B
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Abstract
The invention discloses a kind of drive lacking prosthetic hand system based on epicyclic train to realize continuous print hand exercise.This system comprises drive system, drive system and mechanical hand three part, wherein drive system comprises motor and epicyclic train, and drive system comprises the drive mechanism such as flexible axle and worm and gear, mechanical hand comprises palm and five fingers, and each finger has multiple rotating joint.The input of two motors can be converted into the rotation of 13 output flexible shafts by the epicyclic train in drive system by synergistic mode, thus the motion in each joint on Collaborative Control mechanical hand, the grasping movement in some daily life can be realized and rotate the motion of rehabilitation training ball.The present invention achieves complicated grasping movement by the mode of only two inputs, makes the people with disability lacking hand can be controlled the motion of mechanical hand by the fewer but better true muscle signal of telecommunication, has the advantage that flexibility ratio is high, easy to use.
Description
Technical field
The present invention relates to medical equipment technical field, particularly medical prosthetic hand system.
Background technology
When attempting the motor function of the people with disability rebuilding a forfeiture hands, a challenging especially task sets up the form that personalizes, and correctly can reappear the prosthetic hand of original exquisiteness motion.In order to realize this goal, this prosthetic hand needs to be applicable to various everyday actions, can the bio signal Interface Controller of amputee, as electromyographic signal and EEG signals.The world today has many advanced persons' drive the robot personalized completely, they all employ greatly 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 have employed a kind of drive lacking method, namely drives the quantity of input 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 about account for 84% in tens kinds of crawl postures.
These find to make with less input effectively control machine hands become possibility, realize the synergism of posture by frame for movement and maximally reduce the quantity of power shaft, greatly reducing the cost of prosthetic hand.
Summary of the invention
The object of the invention is to make prosthetic hand two groups of inputs to be converted into collaborative 13 groups by epicyclic train in the mode of drive lacking to export thus driving device hands completes different grasping movement.
For achieving the above object, the invention provides the prosthetic hand system based on epicyclic train, this system can pass through the different gear ratio of many group epicyclic trains and different I/O modes realizes synthesizing the different motion of two inputs, thus each group of collaborative control exports, by drive system, these effects exported are delivered on mechanical hand again, correspond to each joint on mechanical hand due to each output, thus mechanical hand can be made to complete different grasping movement.
This prosthetic hand system based on epicyclic train is by drive system, and drive system and mechanical hand three part are formed.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, can by revising its rotation direction, angle and speed to reach the object accurately controlled in program.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 then 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 namely in three kinds of gears as input for the different gear reduction ratio that planetary gear and week take turns and different I/O modes, remaining a kind of as exporting), two inputs synthesized and be converted into 11 corresponding outputs, namely one group of epicyclic train can corresponding multiple 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 flexible axle and the worm and gear output shaft corresponding with flexible axle is connected on corresponding flexible axle by shaft coupling, with shaft coupling, flexible axle and worm screw are fixed equally at the other end of flexible axle, turbine is driven again, to drive the motion of finger level palm corresponding joint by worm screw.Therefore the speed reducing ratio rotating through worm and gear of output shaft is transformed the rotation in order to turbine by drive system, because flexible axle has good moment of torsion, add the speed reducing ratio of worm and gear 1:20, so the driving error on flexible axle only has original 1/20th after being embodied on turbine, therefore this driving-chain also exists negligible driving error.Drive system also comprises the drive mechanism such as slide bar and connecting rod.
Mechanical hand comprises palm, five fingers, 13 output shafts corresponding five 13 joints pointed respectively of drive system, comprise the respective metacarpophalangeal joints of forefinger, middle finger, the third finger and little finger of toe and proximal interphalangeal joint and a common abduction joint, 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 includes upper and lower cover plates and fixes the axis hole needed for five fingers, screw hole.Have the driving mechanism of the abductions of a set of four fingers driven by slide bar in the inside of palm, this group 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-chains of these four fingers, based on linkage, by the motion of turbine drivening rod being contained in metacarpophalangeal joint, thus control the rotation of interphalangeal joint and proximal interphalangeal joint.For thumb, consider the relative complexity of its structure, employ wheel chain as the kind of drive, consider the rotational angle of flexible axle, employ the planetary reducer of a group less at thumb end rotary joint place to realize suitable speed reducing ratio.
A kind of drive lacking prosthetic hand system based on epicyclic train, 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, the input of motor can be converted into the rotation of output shaft by synergistic mode and pass to mechanical hand by drive system thus the motion in each joint on Collaborative Control mechanical hand by epicyclic gearbox.
Preferably, epicyclic gearbox also comprises epicyclic train, full depth tooth train, idler shaft and dividing plate, described star gear train and described full depth tooth train include input gear and output gear, described epicyclic train also comprises idle pulley, described star gear train and described full depth tooth train are between adjacent two pieces of dividing plates, and power shaft, output shaft and idler shaft are all run through dividing plate and be fixedly connected with idle pulley with the input gear of described epicyclic train, output gear respectively by locking apparatus.
Preferably, epicyclic train comprises sun gear, all wheel, planetary gear, idle pulley and driven wheel, the rotation of two kinds of gears in sun gear, all wheels, planetary gear is controlled by two power shafts, and the rotation that another kind of gear and this two kinds of gears coordinate and occur passes to output shaft; The independence of every root power shaft rotation input is converted into and independently rotates output by full depth tooth train.
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 pieces of dividing plates, the rotation of two power shafts input is synthesized and is converted into 11 kinds of rotation outputs by seven groups of epicyclic trains altogether, the independence of two power shafts rotation input is converted into two and independently rotates output by one group of full depth tooth train, thus makes drive system have 13 kinds of outputs; Drive system comprises 13 flexible axles, and one end of every root 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 thumb first knuckle, thumb second knuckle and thumb third knuckle, mutually can rotate between adjacent dactylus and there is interphalangeal joint and thumb 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, is connected by shaft coupling with the worm screw of worm gear with a flexible axle; Thumb 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, thumb metacarpophalangeal joint is also provided with one group of several pitch wheel engaged with corresponding worm gear, one of them gear and thumb second knuckle are fixedly linked, worm gear is rotatably connected to thumb third knuckle, and corresponding worm screw and this worm gear are nibbled merga pass shaft coupling and be fixedly connected with a flexible axle; One end of connecting rod is fixedly connected with thumb first knuckle, thumb third knuckle is rotatably connected with several pitch wheel and worm gear, the other end of one of them gear and thumb second knuckle and connecting rod is fixedly linked, the worm screw engaged with worm gear is fixedly connected with another root flexible axle by shaft coupling, and connecting rod directly controls the rotation of interphalangeal joint.
Preferably, drive mechanism comprises worm and gear and connecting rod, except thumb four fingers of mechanical hand comprise forefinger, middle finger, the third finger and little finger, these four fingers are had similar size and are all connected with palm by finger base, every root finger includes first knuckle, second knuckle, third knuckle and proximal interphalangeal joint, DIPJ and metacarpophalangeal joints, can mutually rotate between adjacent dactylus, the third knuckle of each finger is rotatably connected with finger base, wherein the first worm gear is fixedly connected with third knuckle, the worm screw engaged with the first worm gear is fixedly connected with a flexible axle by shaft coupling, second worm gear is rotatably connected with finger base, the two ends of first connecting rod are rotatably connected with second knuckle with this second worm gear respectively, the two ends of second connecting rod are rotatably connected with first knuckle with second knuckle respectively, and the worm screw engaged with this second worm gear is fixedly connected with another root flexible axle by shaft coupling.
Preferably, drive mechanism also comprises slide bar, slide bar is provided with groove, mechanical hand except thumb four fingers also there is common thumb in fingers out exhibition joint, thumb in fingers out exhibition 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, three finger base pointed during the other end of three abduction elements and four refers to are fixedly linked and have the respective rotating shaft be fixed on palm, slide bar is connected with a flexible axle by shaft coupling, the rotation of flexible axle can be with moving slide-bar to rotate, thus drive the anterior-posterior translation of pushing member, slide in skewed slot in one end of abduction element and the other end rotates around respective rotating shaft, thus drive the finger base of three fingers correspondingly to rotate, realize the abduction exercise of four fingers.
Preferably, epicyclic gearbox has two or three power shafts.
Drive lacking prosthetic hand system based on epicyclic train of the present invention achieves mechanical hand by this frame for movement of epicyclic train, and each points the cooperative effect in different joint, the quantity of power shaft is made to be reduced to two, reduce the cost of prosthetic hand, prosthetic hand can simulate the grasping movement of staff well simultaneously.
Accompanying drawing explanation
Fig. 1 is the integral installation figure of the drive lacking prosthetic hand system based on epicyclic train of the present invention;
Fig. 2 A is the schematic perspective view of the epicyclic gearbox of 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 drive system in Fig. 2 A;
Fig. 2 E is the front elevation of the epicyclic gearbox of drive system in Fig. 2 A;
Fig. 3 is one group of schematic diagram based on the drive system of flexible axle and worm and gear in Fig. 1;
Fig. 4 is the schematic perspective view after the mechanical hand removing upper cover plate in Fig. 1;
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.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present invention is described in detail, 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 the connotation just in order to technical solution of the present invention is described.
Fig. 1 shows the schematic perspective view after the drive lacking prosthetic hand entire system based on epicyclic train of the present invention assembling.As shown in Figure 1, drive lacking prosthetic hand system based on epicyclic train of the present invention comprises 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, and the output of drive end 300 is passed to mechanical hand 100 thus makes mechanical hand 100 complete different actions by drive system 200.
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, control the input and output of epicyclic gearbox by the control sequence setting rotation direction of motor, speed and angle with accurate control step motor.
Fig. 2 A is the schematic perspective view of the epicyclic gearbox 301 of drive system 300 in Fig. 1.As shown in Figure 2 A, epicyclic gearbox comprises seven groups of epicyclic trains, 10, one group of common gear train, 20, two power shafts, 30,13 output shafts 40, six roots of sensation idler shaft 50 and nine pieces of corrosion resistant plates, 60,13 output shafts 40 and exposes 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 also can be three etc.Corrosion resistant plate 60 also can be 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 that six roots of sensation idler shaft 50 is installed is for changing the direction of rotation of the output shaft in wherein several groups of gear trains; All power shafts 30, output shaft 40 and idler shaft 50 run through the effect that nine pieces of corrosion resistant plates, 60, nine pieces of corrosion resistant plates 60 play separation eight groups of gear trains and strengthen system stability respectively.Here, corrosion resistant plate 60 also can be by suitable material, the plate-like piece that such as plastics are made.
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.First input gear 1 is fixedly connected with first power shaft by locking apparatus 2, first input gear 1 and locking apparatus 2 are provided with the pin hole that matches and are fixed by two pins, and locking apparatus 2 is provided with two set screw hole and is fixed on first power shaft together with the first input gear 1 by locking apparatus 2 by screw.Driven wheel 3 is meshed with the first input gear 1 and driven wheel 3 fixes by four pins and week taking turns 4, thus reaches the object that first power shaft controls week wheel rotation.Similarly, sun gear (i.e. the second input gear) 5 is fixedly connected with second power shaft by locking apparatus 6; Planetary gear 7 be engaged in week wheel 4 and sun gear 5 between and fixed by three round end pins 8 and driven wheel 9; Output gear 11 is fixedly connected with output shaft by locking apparatus 12; Idle pulley 89 to be engaged between driven wheel 9 and output gear 11 thus to make 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, driven wheel 3, all wheels 4, sun gear 5 are all identical with the axis of second power shaft with the axis of driven wheel 9.The first input gear 1 be fixedly connected with second power shaft with first power shaft respectively passes to the synthesis rotating through gear train of sun gear (i.e. the second input gear) 5 output gear 11 be fixedly connected with output shaft.
Fig. 2 D is the side view of the epicyclic gearbox of 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 of 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 such as, in the epicyclic train shown in Fig. 2 B, all wheels and sun gear are as input, and planetary gear is as output.By increasing equipment gear, there is multiple output gear be connected with output shaft in one group of epicyclic train, different gear reduction ratios and different gear direction of rotation can be caused because different gears coordinates, thus reaching different output.In the present invention, the rotation of two power shafts input is synthesized and is converted into 11 kinds of rotation outputs by seven groups of epicyclic trains 10 altogether, two power shafts independent is rotated input and is converted into two independent rotations by gear reduction ratio and exports by one group of full depth tooth train, thus makes drive system have 13 kinds of outputs.
It is pointed out that epicyclic gearbox can comprise the power shaft of more than three or three, every root power shaft is by a step motor control, and the rotation input often organizing gear train can as required from any more than two or two of 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 see Fig. 4, output shaft 41 corresponding thumb end rotary joint 61; The corresponding thumb metacarpophalangeal joints 62 of output shaft 42; The corresponding thumb interphalangeal joint 63 of output shaft 43; Output shaft 44 corresponding thumb abduction 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; The corresponding forefinger proximal interphalangeal joint 69A of output shaft 49 and forefinger DIPJ 69B; Proximal interphalangeal joint of finger 610A and middle distal interphalangeal joint of finger 610B in output shaft 410 correspondence; The corresponding nameless proximal interphalangeal joint 611A of output shaft 411 and nameless DIPJ 611B; The corresponding little finger proximal interphalangeal joint 612A of output shaft 412 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 such as worm and gear, slide bar and connecting rod.Fig. 3 is one group of schematic diagram based on the drive system of flexible axle and worm and gear in Fig. 1.As shown in Figure 3, output shaft 40 is fixedly connected with by shaft coupling 14 one end with corresponding flexible axle 13, 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.Drive system controls output shaft 40 when rotating, and corresponding rotation also occurs worm screw 17, and the worm gear 16 coordinated with worm screw 17 rotates, the motion of respective members in the motion driving device hands 100 of worm gear 16 thus the motion of corresponding joint in driving device hands.The diameter of output shaft 40 is such as 2 millimeters, the diameter of flexible axle 13 is such as 3.2 millimeters, correspondingly, shaft coupling 14 is made into one end internal diameter and is 2 millimeters and other end internal diameter is 3.2 millimeters, and shaft coupling 15 is made into one end internal diameter and is 3.2 millimeters and other end internal diameter and worm end equal diameters.
This shows, the speed reducing ratio rotating through worm and gear of output shaft is converted into the rotation of turbine by drive system 200, flexible axle adopts and the material of transmitting torque well can be made thus effectively can transmit the rotation of output shaft, and worm and gear speed reducing ratio is 1:20, be embodied in that driving error on turbine is less is only 1/20th of soft axle transmission error, therefore the driving error of this driving-chain can be ignored.
Mechanical hand comprises palm, five fingers, and the motion transmission chain based on linkage.In order to more clearly find out mechanical hand internal mechanism, Fig. 4 shows the schematic perspective view after mechanical hand removing upper cover plate.As shown in Figure 4, mechanical hand 100 comprise palm, thumb 18, structure similar four refer to 19 and four refer to 19 abduction mechanism 52, wherein palm comprise upper and lower cover plates and fix five finger needed for axis hole and screw hole, four refer to that 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 such as 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, deletes some components in the drawings.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; Being connected with the shaft coupling 23 of thumb abduction juxtra-articular and being controlled the rotation in thumb abduction joint 64 by the cooperation of worm screw 24 and worm gear 25 of the flexible axle (not shown) that one end is connected with output shaft 44; The flexible axle (not shown) that one end is connected with output shaft 43 is connected with shaft coupling 26 and reaches by the driving-chain of worm screw 27, worm gear 28, gear 29, gear 33 and connecting rod 34 object 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.
The dependency structure controlling thumb metacarpophalangeal joints can not be found out in Fig. 5 A, therefore the transmission principle of thumb metacarpophalangeal joints is shown separately in figure 5b.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 to thumb third knuckle 85, gear 86 is fixedly connected with turbine 72, gear 74 and thumb second knuckle 78 are fixedly linked, thus namely the rotation of gear 74 completes 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, the flexible axle that one end is connected with the output shaft 45 controlling forefinger metacarpophalangeal joints is connected to shaft coupling 76, the output of output shaft 45 passes to worm screw 77 by flexible axle, the worm gear 79 coordinated with worm screw 77 is fixedly connected with forefinger third knuckle 83, and namely the rotation of worm gear 79 completes the rotation of forefinger metacarpophalangeal joints.
In order to clearly find out the transmission principle of forefinger proximal interphalangeal joint 69A and forefinger DIPJ 69B, in Fig. 6 B, eliminate some components.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.The flexible axle that one end is connected with output shaft 49 (not shown) is connected to shaft coupling 35, the output of output shaft 49 passes to worm screw 36 by flexible axle, and controls the rotation of forefinger proximal interphalangeal joint 69A and forefinger DIPJ 69B by the driving-chain of worm gear 37, connecting rod 38 and connecting rod 39 composition.
Its excess-three root is pointed, 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 coordinated 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 in corresponding skewed slot 57 and rotating shaft 54 around each self-retaining is rotated.As can be seen from Figure 4, three abduction elements 53 are fixedly linked with the finger base 78 of corresponding forefinger, the third finger, little finger respectively, each finger base 78 is rotated along with the rotation of abduction element 53, thus drives the abduction exercise of forefinger, the third finger, little finger.
Drive lacking prosthetic hand system based on epicyclic train of the present invention achieves mechanical hand by this frame for movement of epicyclic train, and each points the cooperative effect in different joint, the quantity of power shaft is made to be reduced to two, reduce the cost of prosthetic hand, prosthetic hand can simulate 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 (8)
1. based on a drive lacking prosthetic hand system for epicyclic train, it is characterized in that, described prosthetic hand system comprises drive system, drive system and mechanical hand, wherein
Described 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 five fingers comprise thumb, forefinger, middle finger, the third finger and little finger, and described finger is provided with mobilizable joint, wherein,
Described thumb comprises thumb first knuckle, thumb second knuckle and thumb third knuckle, mutually can rotate and have interphalangeal joint and thumb metacarpophalangeal joints between adjacent dactylus, and the root of thumb also has end rotary joint and abduction joint,
Described forefinger, middle finger, the third finger and little finger are had similar size and are all connected with palm by finger base, described forefinger, middle finger, the third finger and little finger include first knuckle, second knuckle, third knuckle and proximal interphalangeal joint, DIPJ and metacarpophalangeal joints, can mutually rotate between adjacent dactylus, the third knuckle of each finger is rotatably connected with described finger base; And
Described drive system comprises flexible axle and drive mechanism, and described drive mechanism comprises worm and gear and connecting rod, 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,
In described thumb, described end rotary joint is connected with flexible axle one, described abduction joint is connected with worm gear three, the worm screw coordinated with described worm gear three is connected with flexible axle two by shaft coupling, described thumb metacarpophalangeal joints is connected with flexible axle three by worm and gear, described interphalangeal joint is connected with flexible axle four by connecting rod and worm and gear
In described forefinger, middle finger, the third finger and little finger, first worm gear is fixedly connected with described third knuckle, the worm screw engaged with described first worm gear is fixedly connected with flexible axle five by shaft coupling, second worm gear is rotatably connected with described finger base, the two ends of first connecting rod are rotatably connected with second knuckle with described second worm gear respectively, the two ends of second connecting rod are rotatably connected with first knuckle with second knuckle respectively, and the worm screw engaged with described second worm gear is fixedly connected with flexible axle six by shaft coupling;
The input of described motor can be converted into the rotation of described output shaft by synergistic mode and pass to described mechanical hand by described drive system thus the motion in each joint on mechanical hand described in Collaborative Control by described epicyclic gearbox.
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, described star gear train and described full depth tooth train include input gear and output gear, described epicyclic train also comprises idle pulley, described epicyclic train and described full depth tooth train are between adjacent two pieces of dividing plates, and described power shaft, output shaft and idler shaft are all run through dividing plate and be fixedly connected with idle pulley with the input gear of described epicyclic train, output gear 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 wheel, planetary gear, idle pulley and driven wheel, the rotation of two kinds of gears in described sun gear, all wheels, planetary gear is controlled by two power shafts, and the rotation that another kind of gear and this two kinds of gears coordinate and occur passes to output shaft; The independence of every root power shaft rotation input is converted into and independently rotates output by described full depth tooth train.
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 pieces of dividing plates, the rotation of described two power shafts input is synthesized and is converted into 11 kinds of rotation outputs by described seven groups of epicyclic trains altogether, the independence of two power shafts rotation input is converted into two and independently rotates output by one group of full depth tooth train, thus makes described drive system have 13 kinds of outputs; Described drive system comprises 13 flexible axles, and one end of every root flexible axle is fixedly connected with an output shaft of described drive system by shaft coupling.
5. prosthetic hand system as claimed in claim 1, it 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 described flexible axle one by shaft coupling.
6. prosthetic hand system as claimed in claim 1, it is characterized in that, described thumb metacarpophalangeal joint is also provided with one group of several pitch wheel engaged with corresponding worm gear four, one of them gear and thumb second knuckle are fixedly linked, described worm gear four is rotatably connected to thumb third knuckle, and corresponding worm screw and this worm gear four are nibbled merga pass shaft coupling and be fixedly connected with described flexible axle three;
The one end controlling the connecting rod of thumb interphalangeal joint is fixedly connected with thumb first knuckle, the third knuckle of thumb is rotatably connected with several pitch wheel and worm gear five, the other end of the connecting rod of one of them gear and thumb second knuckle and described control thumb interphalangeal joint is fixedly linked, the worm screw engaged with described worm gear five is fixedly connected with described flexible axle four by shaft coupling, and the connecting rod of described control thumb interphalangeal joint directly controls the rotation of described interphalangeal joint.
7. prosthetic hand system as claimed in claim 1, it is characterized in that, described drive mechanism also comprises slide bar, described slide bar is provided with groove, except thumb four fingers of described mechanical hand also have common thumb in fingers out exhibition joint, described thumb in fingers out exhibition 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, three finger base pointed during the other end of described three abduction elements and four refers to are fixedly linked and have the respective rotating shaft be fixed on palm, described slide bar is connected with flexible axle seven by shaft coupling, the rotation of this flexible axle seven can be with moving slide-bar to rotate, thus drive the anterior-posterior translation of pushing member, slide in skewed slot in one end of abduction element and the other end rotates around respective rotating shaft, thus drive the finger base of described three fingers correspondingly to rotate, realize the abduction exercise of four fingers.
8. prosthetic hand system as claimed in claim 3, it is characterized in that, described epicyclic gearbox has two or three power shafts.
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| CN103690279B true CN103690279B (en) | 2016-01-13 |
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| CN104175319B (en) * | 2014-08-19 | 2015-12-30 | 东南大学 | For the variable displacement torque converter of under-actuated delicacy hand |
| CN104306086B (en) * | 2014-09-30 | 2016-04-20 | 东北大学 | A kind of novel without externally energized prosthesis hands |
| CN104382674B (en) * | 2014-10-20 | 2016-06-01 | 华中科技大学 | A kind of drive lacking prosthetic hand reappearing staff crawl function |
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN105840763B (en) * | 2016-05-20 | 2018-01-30 | 哈尔滨工业大学 | Dual input multi output collaborative device based on differential planet gear |
| 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 |
| CN106903684B (en) * | 2017-04-26 | 2023-04-07 | 河北工业大学 | Truss manipulator based on planetary gear train |
| US10806573B2 (en) * | 2017-08-22 | 2020-10-20 | Edwards Lifesciences Corporation | Gear drive mechanism for heart valve delivery apparatus |
| CN109692061B (en) * | 2019-01-07 | 2024-02-06 | 北京理工大学 | Planetary transmission type artificial limb hand |
| CN110731842B (en) * | 2019-09-20 | 2021-11-19 | 上海健康医学院 | Pneumatic muscle driven thumb device for smart hand |
| CN111773038B (en) * | 2020-08-06 | 2022-04-15 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
| 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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| CN86202865U (en) * | 1986-05-09 | 1987-08-19 | 清华大学 | Electric elbowjoint for artificial limb |
| AT391077B (en) * | 1988-07-18 | 1990-08-10 | Bock Orthopaed Ind | PROSTHETIC DRIVE |
| US6423099B1 (en) * | 2000-05-22 | 2002-07-23 | Motion Control, Inc. | Safety clutch for a prosthetic grip |
| JP3893453B2 (en) * | 2002-04-16 | 2007-03-14 | 独立行政法人産業技術総合研究所 | Prosthetic hand |
| US6921419B2 (en) * | 2002-12-12 | 2005-07-26 | The United States Of America As Represented By The Department Of Veterans Affairs | Externally-powered hand prosthesis |
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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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