CN103705323B - There is the electric motor built-in modularity prosthetic finger of auto-lock function - Google Patents
There is the electric motor built-in modularity prosthetic finger of auto-lock function Download PDFInfo
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- CN103705323B CN103705323B CN201410015967.7A CN201410015967A CN103705323B CN 103705323 B CN103705323 B CN 103705323B CN 201410015967 A CN201410015967 A CN 201410015967A CN 103705323 B CN103705323 B CN 103705323B
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Abstract
Have the electric motor built-in modularity prosthetic finger of auto-lock function, it relates to a kind of modularity prosthetic finger, is specifically related to a kind of electric motor built-in modularity prosthetic finger with auto-lock function.The present invention in order to solve existing prosthetic finger complicated mechanism, not high, the single finger of the degree of modularity can not independently control, and does not have the problem that auto-lock function causes its cruising time short.Nearly dactylus shell of the present invention is arranged on rotating frame, the other end of worm screw is connected with end cap by worm shaft, base joint pedestal is connected with rotating frame by base joint shaft, worm gear set is contained on base joint shaft, worm gear and worm engaging, first joint steel wire wheel is sleeved on the boss of worm gear side, second joint wire wheel is sleeved on the round platform on finger tip lower cover medial wall, finger tip upper cover plate and finger tip circuit board by between stud be arranged on finger tip lower cover, one end of steel wire is fixed on the pedestal of base joint by tension disc.The invention belongs to robot field.
Description
Technical field
The present invention relates to a kind of modularity prosthetic finger, be specifically related to a kind of electric motor built-in modularity prosthetic finger with auto-lock function.
Background technology
Hands is the extension of human consciousness, has important effect in daily life.To do evil through another person substituting as natural staff, need that there is operation object, the function of sensing external environment and the same profile of staff.But, be limited to the development of driver, sensor, do evil through another person and be also difficult to reach higher level in size, weight, outward appearance, dexterity, envelope and perception etc. simultaneously.Therefore, how highly personalize on the basis of outward appearance making to do evil through another person to have, it is the important topic of area research of doing evil through another person that the function that makes to do evil through another person is improved more always.
The development of doing evil through another person user oriented at last, therefore, commercialization of doing evil through another person is its development trend.The commercialization of the comparative maturity applied in the market is done evil through another person and is mostly only had one degree of freedom, and each finger is all rigidity, does not have each dactylus of relative motion, dexterity and personification poor; In the last few years, although make moderate progress in the dexterity, personification of finger, its driver was positioned over palm inside, complicated mechanism, and the degree of modularity is not high, and single finger can not independently control, and the scope of application is also only limitted to full hands patients with amputation; In addition, between each finger, part universality is poor, safeguards also more difficult; Do not have auto-lock function owing to doing evil through another person, cause its cruising time short, these factors all limit the application of doing evil through another person.Based on the above, the utility model patent that publication number is CN201861802U, the applying date is on June 15th, 2011 discloses a kind of prosthetic hand with finger, and specifically disclose prosthetic hand employing turbine and worm drive mechanism, there is mechanical self-latching function, but the not open how various crawl attitude of structure adjusting in the document, and how to simulate staff end two dactylus with a part.
Summary of the invention
The present invention cannot the various crawl attitude of structure adjusting for solving existing prosthetic finger, can not by the problem of a part simulation staff end two dactylus, and then proposition has the electric motor built-in modularity prosthetic finger of auto-lock function.
The present invention is the technical scheme taked that solves the problem: the present invention includes nearly dactylus and dactylus far away, described nearly dactylus comprises motor, decelerator, nearly dactylus shell, rotating frame, worm screw, worm shaft, end cap, worm gear, first joint steel wire wheel, base joint shaft, base joint pedestal and tension disc, decelerator is fixedly mounted on rotating frame, nearly dactylus shell is arranged on rotating frame, the output shaft of motor is connected with one end of worm screw by decelerator, and the other end of worm screw is connected with end cap by worm shaft, and base joint pedestal is connected with rotating frame by base joint shaft, worm gear set is contained on base joint shaft, worm gear and worm engaging, the first joint steel wire wheel is sleeved on the boss of worm gear side, and described dactylus far away comprises finger tip upper cover plate, finger tip lower cover, middle joint shaft, second joint wire wheel, steel wire, fingertip location sensor, finger tip circuit board and finger tip stud, finger tip lower cover is connected with nearly dactylus shell by middle joint axle, fingertip location sensor sleeve is contained on middle joint axle, second joint wire wheel is sleeved on the round platform on finger tip lower cover medial wall, finger tip upper cover plate and finger tip circuit board by between stud be arranged on finger tip lower cover, one end of steel wire is fixed on the pedestal of base joint by tension disc, the other end of steel wire walks around the first joint steel wire wheel and second joint wire wheel is fixed in the groove of finger tip upper cover plate inwall, and the first joint steel wire wheel walked around by steel wire and second joint wire wheel is fixed in the groove of base joint pedestal and finger tip lower cover.
The invention has the beneficial effects as follows: the present invention is based on modular design method, driving, transmission, sensing and control system are completely integrated in and have multiarticulate finger interior, one hand refers to certainly to calculate automatic control; The present invention has not only liberated palm space, is convenient to thumb mechanism and the layout of other electrical systems in palm, and extends the range of application of doing evil through another person, namely extend to severed finger disabled patient from whole mutilated hand patient; The whole finger of the present invention is only less than 30 parts, and between finger, part is completely general, and cost has been saved in easy disassembly and maintenance; The present invention has self-lock ability, also can firmly grasp object when grasping object without the need to continued power; The present invention adopts wire spring coupling mechanism to realize the flexion/extension of dactylus far away, and structure is simple, and efficiency is high; Add passive flexible member at nearly dactylus, effectively can eliminate the backlash of worm and gear, when ensureing to grasp, finger tip and object are not thrown off; Finger size of the present invention comparatively becomes finger smaller, finger tip initiatively load and driven bearing loading capability larger.
Accompanying drawing explanation
Fig. 1 is overall structure schematic front view of the present invention, and Fig. 2 is the main sectional view of dactylus far away and nearly dactylus, and Fig. 3 is the structure schematic front view of dactylus far away, and Fig. 4 is dactylus far away and nearly dactylus angulation schematic diagram, and Fig. 5 is wiring path schematic diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 5 illustrates present embodiment, the electric motor built-in modularity prosthetic finger described in present embodiment with auto-lock function comprises nearly dactylus and dactylus far away, and described nearly dactylus comprises motor 1, decelerator 2, nearly dactylus shell 3, rotating frame 4, worm screw 5, worm shaft 8, end cap 9, worm gear 12, first joint steel wire wheel, base joint shaft 15, base joint pedestal 17 and tension disc 20, decelerator 2 is fixedly mounted on rotating frame 4, nearly dactylus shell 3 is arranged on rotating frame 4, the output shaft of motor 1 is connected with one end of worm screw 5 by decelerator 2, the other end of worm screw 5 is connected with end cap 9 by worm shaft 8, base joint pedestal 17 is connected with rotating frame 4 by base joint shaft 15, worm gear 12 is sleeved on base joint shaft 15, worm gear 12 engages with worm screw 5, first joint steel wire wheel is sleeved on the boss of worm gear 12 side, and described dactylus far away comprises finger tip upper cover plate 21, finger tip lower cover 22, middle joint shaft 23, second joint wire wheel 25, steel wire 26, fingertip location sensor 28, finger tip circuit board and finger tip stud 30, finger tip lower cover 22 is connected with nearly dactylus shell 3 by middle joint axle 23, fingertip location sensor 28 is sleeved on middle joint axle 23, second joint wire wheel 25 is sleeved on the round platform on finger tip lower cover 22 medial wall, between finger tip upper cover plate 21 and finger tip circuit board pass through, stud 30 is arranged on finger tip lower cover 22, and the first joint steel wire wheel is walked around at the two ends of steel wire 26 respectively and second joint wire wheel 25 is fixed in the groove of base joint pedestal 17 and finger tip lower cover 22.
In present embodiment, the relatively near dactylus of dactylus far away has the inclination angle of 10 degree, and so arranging is in order to the various crawl attitude of structure adjusting; Finger tip lower cover 22 is not the cylindrical profile of a standard, but has certain inclination from bottom to top, and has a bending in the position of centre, thus simulates staff end two dactylus with a part.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, the nearly dactylus described in present embodiment with the electric motor built-in modularity prosthetic finger of auto-lock function also comprises worm screw pad 6 and plastic sleeve 7, and one end of worm screw 5 is connected with the output shaft of plastic sleeve 7 with decelerator 2 by worm screw pad 6.
The technique effect of present embodiment is: so arrange, and effectively can bear the axial force of worm screw, can reduce the coefficient of friction between it and plastic sleeve 7 by the material of preferred worm screw pad 6, thus reduces frictional dissipation.Worm screw pad 6 and plastic sleeve 7 can also substitute with thrust bearing, so arrange, can ensure do not have frictional dissipation, but size are bigger.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2 illustrates present embodiment, has described in present embodiment to be provided with between the rotating frame 4 of the electric motor built-in modularity prosthetic finger of auto-lock function and end cap 9 and adjusts pad 10.
The technique effect of present embodiment is: so arrange, and pad 10 is used for adjusting the degree that worm screw 5 compresses plastic sleeve 7; The worm screw pad 6 that worm screw 5 axle pastern divides and plastic sleeve 7 can also substitute with thrust bearing, to resist the axial force of worm screw 5.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 2 illustrates present embodiment, has described in present embodiment between the base joint pedestal 17 of the electric motor built-in modularity prosthetic finger of auto-lock function and worm gear 12 and is provided with passive flexible member 16.
The technique effect of present embodiment is: so arrange, and can eliminate the backlash of worm and gear, ensures finger tip and is grabbed object and contact all the time.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1 illustrates present embodiment, the nearly dactylus described in present embodiment with the electric motor built-in modularity prosthetic finger of auto-lock function also comprises worm screw buckle closure 11 and trim 19, worm screw buckle closure 11 is fixedly mounted on rotating frame 4, and trim 19 is fixedly mounted on end cap 9.
The technique effect of present embodiment is: so arrange, and worm screw buckle closure 11 can prevent worm screw outside exposed, and the profile of trim 19 links up with palm profile again and makes finger when turning to terminal position, and the part that worm gear is exposed is blocked just.Other composition and annexation and detailed description of the invention one, two, three or four identical.
Detailed description of the invention six: composition graphs 1 and Fig. 5 illustrate present embodiment, the electric motor built-in modularity prosthetic finger described in present embodiment with auto-lock function also comprises worm gear cover plate 13 and base joint screw 18, worm gear cover plate 13 spiral-lock is on worm gear 12, and one end of base joint shaft 15 is strained by base joint screw 18 through worm gear 12 and worm gear cover plate 13.
The technique effect of present embodiment is: so arrange, and both can ensure that the position of whole axle system and base joint shaft 15 maintain static, also can provide pretightning force for bearing.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 1 and Fig. 3 illustrate present embodiment, the dactylus far away described in present embodiment with the electric motor built-in modularity prosthetic finger of auto-lock function also comprises middle joint screw 24, and every one end of middle joint shaft 23 is provided with a middle joint screw 24 respectively.
The technique effect of present embodiment is: so arrange, and both can ensure that the position of whole axle system and middle joint shaft 23 maintain static, also can provide pretightning force for bearing.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention eight: composition graphs 3 illustrates present embodiment, the nearly dactylus described in present embodiment with the electric motor built-in modularity prosthetic finger of auto-lock function also comprises spring 27, and spring 27 is arranged in the groove of nearly dactylus shell 3.
The technique effect of present embodiment is: so arrange, and make finger when moving in direction, finger tip can reset.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention nine: composition graphs 5 illustrates present embodiment, there is described in present embodiment the line of the motor 1 of the electric motor built-in modularity prosthetic finger of auto-lock function and power line, the side of connection is connected on the circuit board in finger tip lower cover 22 by the wire casing of nearly dactylus shell 3, and being fixed on nearly dactylus shell 3, the opposite side of power line and connection to be then incorporated in trim 19 through the hole of rotating frame 4, the groove of pedestal 17, the centre bore of end cap 9 successively and to be fixed on pedestal 17 eventually through tension disc 20.
The technique effect of present embodiment is: so arrange, and makes the circuit part cabling of finger be completely contained in finger interior.Other composition and annexation identical with detailed description of the invention one.
Operation principle
Motor 1 output shaft drives decelerator 2, the output shaft of decelerator 2 drives worm screw 5 to rotate, be motionless because worm gear 12 is fixed on pedestal 17, so motor 1, decelerator 2, nearly dactylus shell 3, rotating frame 4 and worm screw 5 will start to rotate around worm gear 12, thus nearly dactylus rotated; Steel wire 26 is wound around on the wire wheel of two dactylus, and because steel wire length is constant, the distance of winding by pulling fingertip motions to compensate, thus will define the coupled motions of dactylus far away, and the reset of dactylus far away is realized by spring 27.
Claims (5)
1. there is the electric motor built-in modularity prosthetic finger of auto-lock function, it comprises nearly dactylus and dactylus far away, described nearly dactylus comprises motor (1), decelerator (2), nearly dactylus shell (3), rotating frame (4), worm screw (5), worm shaft (8), end cap (9), worm gear (12), first joint steel wire wheel, base joint shaft (15), base joint pedestal (17) and tension disc (20), decelerator (2) is fixedly mounted on rotating frame (4), nearly dactylus shell (3) is arranged on rotating frame (4), the output shaft of motor (1) is connected with one end of worm screw (5) by decelerator (2), the other end of worm screw (5) is connected with end cap (9) by worm shaft (8), base joint pedestal (17) is connected with rotating frame (4) by base joint shaft (15), worm gear (12) is sleeved on base joint shaft (15), worm gear (12) engages with worm screw (5), first joint steel wire wheel is sleeved on the boss of worm gear (12) side, described dactylus far away comprises finger tip upper cover plate (21), finger tip lower cover (22), middle joint shaft (23), second joint wire wheel (25), steel wire (26), fingertip location sensor (28), finger tip circuit board and finger tip stud (30), finger tip lower cover (22) is connected with nearly dactylus shell (3) by middle joint axle (23), fingertip location sensor (28) is sleeved on middle joint axle (23), second joint wire wheel (25) is sleeved on the round platform on finger tip lower cover (22) medial wall, between finger tip upper cover plate (21) and finger tip circuit board pass through, stud (30) is arranged on finger tip lower cover (22), one end of steel wire (26) is fixed on base joint pedestal (17) by tension disc (20), the first joint steel wire wheel is walked around at the two ends of steel wire (26) respectively and second joint wire wheel (25) is fixed in the groove of base joint pedestal (17) and finger tip lower cover (22), the relatively near dactylus of dactylus far away has the inclination angle of 10 degree, finger tip lower cover (22) is not the cylindrical profile of a standard, but have certain inclination from bottom to top, and a bending is had in the position of centre, it is characterized in that: described nearly dactylus also comprises worm screw pad (6) and plastic sleeve (7), one end of worm screw (5) is connected with the output shaft of plastic sleeve (7) with decelerator (2) by worm screw pad (6), passive flexible member (16) is provided with between base joint pedestal (17) and worm gear (12), described nearly dactylus also comprises spring (27), spring (27) is arranged in the groove of nearly dactylus shell (3).
2. there is the electric motor built-in modularity prosthetic finger of auto-lock function according to claim 1, it is characterized in that: be provided with between rotating frame (4) and end cap (9) and adjust pad (10).
3. there is the electric motor built-in modularity prosthetic finger of auto-lock function according to claim 1 or 2, it is characterized in that: described nearly dactylus also comprises worm screw buckle closure (11) and trim (19), worm screw buckle closure (11) is fixedly mounted on rotating frame (4), and trim (19) is fixedly mounted on end cap (9).
4. there is the electric motor built-in modularity prosthetic finger of auto-lock function according to claim 1, it is characterized in that: described in there is auto-lock function electric motor built-in modularity prosthetic finger also comprise worm gear cover plate (13) and base joint screw (18), worm gear cover plate (13) spiral-lock is on worm gear (12), and one end of base joint shaft (15) is strained by base joint screw (18) through worm gear (12) and worm gear cover plate (13).
5. there is the electric motor built-in modularity prosthetic finger of auto-lock function according to claim 1, it is characterized in that: described dactylus far away also comprises middle joint screw (24), every one end of middle joint shaft (23) is provided with a middle joint screw (24) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410015967.7A CN103705323B (en) | 2014-01-14 | 2014-01-14 | There is the electric motor built-in modularity prosthetic finger of auto-lock function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410015967.7A CN103705323B (en) | 2014-01-14 | 2014-01-14 | There is the electric motor built-in modularity prosthetic finger of auto-lock function |
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| CN103705323A CN103705323A (en) | 2014-04-09 |
| CN103705323B true CN103705323B (en) | 2016-03-23 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106109066B (en) * | 2015-11-18 | 2018-01-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
| CN106037999B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | Artificial limb finger |
| CN105726173B (en) * | 2016-02-02 | 2018-11-20 | 黑龙江大学 | Remote control electric manipulator |
| CN106491250B (en) * | 2016-11-08 | 2018-09-07 | 哈尔滨工业大学 | The imitative coupling thumb of electric motor built-in height done evil through another person for disabled person |
| US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
| CN109730817B (en) * | 2019-01-22 | 2024-02-23 | 温岭市大翰弘知智能科技有限公司 | Worm wheel self-locking artificial limb elbow joint arranged in forearm cavity |
| US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
| CN111110408B (en) * | 2019-12-16 | 2022-03-18 | 中国科学院深圳先进技术研究院 | Finger knuckle, finger and palm structure of human imitation |
| CN212825433U (en) * | 2020-06-01 | 2021-03-30 | 北京海益同展信息科技有限公司 | Bionic thumb transmission structure, bionic hand and robot |
| CN112022058B (en) * | 2020-08-31 | 2022-09-27 | 武汉佑康科技有限公司 | Electronic endoscope catheter with stepless self-locking handle |
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| SE0102833D0 (en) * | 2001-08-27 | 2001-08-27 | Bergomed Ab | Drive device at a finger prosthesis |
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