CN103830025A - Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function - Google Patents
Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function Download PDFInfo
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- CN103830025A CN103830025A CN201410100181.5A CN201410100181A CN103830025A CN 103830025 A CN103830025 A CN 103830025A CN 201410100181 A CN201410100181 A CN 201410100181A CN 103830025 A CN103830025 A CN 103830025A
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Abstract
The invention discloses a two-degree-of-freedom modularized artificial hand thumb with a moment of force, position and touch perception function and relates to an artificial hand thumb. The two-degree-of-freedom modularized artificial hand thumb is used for solving the problems that matching between a prior artificial hand thumb and other fingers is poor, the grabbing function of the prior artificial hand thumb is limited, the prior artificial hand thumb is lack of the touch perception function, a transmission structure is complex and the modularization degree is low. The two ends of a metacarpal bone joint shaft are supported by fixed frames. A first worm gear and one end of a metacarpal bone base are arranged on the metacarpal bone joint shaft in a penetrating mode, wherein the first worm gear is located in one end of the metacarpal bone base. A first worm gear cover plate is arranged at one end of the metacarpal bone joint shaft, the metacarpal bone joint shaft is tightened through a metacarpal bone joint screw, and the other end of the metacarpal bone joint shaft is fixedly sleeved with a second plastic transmission gear. A position sensor is fixed to a sensor fixing frame, and a first plastic gear is installed on a transmission shaft of the position sensor, fixedly and axially connected with an inner hole of the position sensor and meshed with the second plastic transmission gear. The two-degree-of-freedom modularized artificial hand thumb is used on the palm of a robot.
Description
Technical field
The present invention relates to the one thumb of doing evil through another person, the two-freedom modularity that is specifically related to a kind of power of having position and the tactilely-perceptible function thumb of doing evil through another person.
Background technology
The development of doing evil through another person user oriented at last, therefore, the commercialization of doing evil through another person is its development trend.The commercialization of the comparative maturity of application is in the market done evil through another person and is mostly only had one degree of freedom, and each finger does not have each dactylus of relative motion, and lacks vital thumb for crawl task, and dexterity and personification are poor; In the last few years, although also occurred that the novel of some thumbs with apery movement locus do evil through another person, its thumb only has a flexion/extension degree of freedom, can not carry out abduction and interior receipts, therefore thumb and other fingers is poor to tropism, and capturing function has very large limitation; In addition, existing doing evil through another person lacks the fully sensing external environment variation of fairly perfect sensory perceptual system, especially lacks tactilely-perceptible function; Moreover existing thumb drives is positioned over that palm inside, complicated mechanism, the degree of modularity are low conventionally, single finger can not independently be controlled, and owing to not having self-lock ability, cruising time is short, and these factors have all limited the application of doing evil through another person.
Summary of the invention
The present invention solves existing the poor to tropism of thumb and other fingers of doing evil through another person, capture the problem that function exists limitation, lacks tactilely-perceptible function and complicated mechanism, the degree of modularity is low, and then the two-freedom modularity of a kind of power of having position and the tactilely-perceptible function thumb of doing evil through another person is provided.
The present invention solves the problems of the technologies described above the technical scheme of taking to be:
The two-freedom modularity of the power of having of the present invention position and the tactilely-perceptible function thumb of doing evil through another person comprises metacarpal bone dactylus, nearly dactylus and dactylus far away, and metacarpal bone dactylus comprises the first motor, the first decelerator, fixed frame, the first worm screw, the first worm shaft, the first end cap, the first worm gear, the first worm gear cover plate, metacarpal bone joint shaft, metacarpal bone joint screw, metacarpal bone pedestal, position sensor, fixing rack for sensor, the first Plastic gear wheel, the second Plastic gear wheel and power transmission shaft;
The outfan of described the first motor is connected with the input of the first decelerator, the first decelerator is packed on fixed frame, one end of the first worm screw is connected with the first reducer output shaft, the other end of the first worm screw is provided with the first worm shaft, the first worm shaft covers at first end by bearings, the two end supports of metacarpal bone joint shaft is on fixed frame, one end of the first worm gear and metacarpal bone pedestal is all installed on metacarpal bone joint shaft, the first worm gear is positioned at one end of metacarpal bone pedestal, described the first worm gear and the first worm engaging, one end of metacarpal bone joint shaft is provided with the first worm gear cover plate, metacarpal bone joint shaft is strained by metacarpal bone joint screw, on the other end of metacarpal bone joint shaft, be installed with the second Plastic gear wheel, position sensor is fixed on fixing rack for sensor, the first plastic gear is arranged on the power transmission shaft of position sensor, the first plastic gear is connected with the endoporus axial restraint of position sensor, the first Plastic gear wheel and the second Plastic gear wheel are intermeshing,
Nearly dactylus comprises the second motor, the second decelerator, nearly dactylus shell, rotating frame, the second worm screw, the second worm shaft, the second end cap, worm screw buckle closure, the second worm gear, the second worm gear cover plate, base joint shaft, passive flexible member, base joint screw and trim and nearly dactylus wire wheel;
The outfan of described the second motor is connected with the input of the second decelerator, the second decelerator is fixed on rotating frame, nearly dactylus shell is fixed on rotating frame and the second motor and the second decelerator are all positioned at nearly dactylus shell, the upper end of nearly dactylus shell is processed with the first round platform, one end of the second worm screw is connected with the output shaft of the second decelerator, the other end of the second worm screw is provided with the second worm shaft, the second worm shaft by bearings on the second end cap, trim is arranged on the second end cap, worm screw buckle closure is fixed on rotating frame, the two end supports of base joint shaft is on rotating frame, the other end of the second worm gear and metacarpal bone pedestal is all installed on base joint shaft, the second worm gear is positioned at the other end of metacarpal bone pedestal, the second worm gear and the second worm engaging, one end of base joint shaft is strained by base joint screw by the second worm gear cover plate, and passive flexible member is arranged on metacarpal bone pedestal and between the second worm gear and metacarpal bone pedestal, and nearly dactylus wire wheel is packed on the sidewall of the second worm gear,
Dactylus far away comprises finger tip upper cover plate, finger tip lower cover, middle joint shaft, middle joint screw, dactylus wire wheel far away, torsion spring, fingertip location sensor, finger tip torque sensor foil gauge, touch sensor, finger tip double-screw bolt, thimble and steel wire, finger tip upper cover plate is arranged on finger tip lower cover, the common formation of finger tip upper cover plate and finger tip lower cover dactylus shell far away, on the right side inwall of finger tip lower cover bottom, be processed with the second round platform, dactylus wire wheel far away is arranged on the second round platform, torsion spring set is contained on the first round platform of dactylus shell, one of torsion spring turns round arm and is embedded in the top of nearly dactylus shell, another of torsion spring turns round arm and finger tip lower cover is affixed, finger tip torque sensor foil gauge is affixed on the inwall of finger tip lower cover upper end, in the finger belly of dactylus far away, be provided with touch sensor, touch sensor is spacing by thimble, the two ends of middle joint shaft are arranged on the bottom of finger tip lower cover, fingertip location sensor, the upper end of nearly dactylus shell and dactylus wire wheel far away are all installed on middle joint shaft, middle joint shaft is fixed by middle joint screw, steel wire winding on nearly dactylus wire wheel and dactylus wire wheel far away and the two ends of steel wire be separately fixed on nearly dactylus and dactylus far away, finger tip double-screw bolt is strained finger tip upper cover plate and finger tip lower cover by screw.
The present invention has following beneficial effect compared with the existing thumb of doing evil through another person:
The two-freedom modularity of the power of having of the present invention position and the tactilely-perceptible function thumb of doing evil through another person has two cover driving mechanisms at metacarpal bone dactylus and nearly dactylus, can realize bending, stretching, extension and abduction, two degree of freedom of interior receipts, can complete and comprise that side direction pinches the various typical grasping movement in being taken at;
The two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function do evil through another person thumb dactylus far away integrated moment, position and three kinds of sensors of sense of touch, there is power, position and tactilely-perceptible function, can perception, position information, and can utilize tactile data to carry out grasp force control, prevent that being grabbed object slides;
The two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function is done evil through another person thumb based on modularized design, can self-movement, and its dactylus far away is close with other fingers with nearly dactylus structure, easy disassembly and maintenance;
The two-freedom modularity of the power of having of the present invention position and the tactilely-perceptible function thumb of doing evil through another person has all adopted Worm and worm-wheel gearing at metacarpal bone dactylus and nearly dactylus, therefore there is self-lock ability, both can in thumb wheel process, remain on optional position, also can in the time grasping object, firmly grasp object without continued power.
Accompanying drawing explanation
Fig. 1 is the do evil through another person original state schematic diagram of thumb of the two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function; Fig. 2 is the view that the two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function is done evil through another person after bending 30 degree of thumb; Fig. 3 is that the two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function is done evil through another person adduction of thumb to the schematic diagram of end-state; Fig. 4 is metacarpal bone dactylus profile in the specific embodiment of the invention one; Fig. 5 is metacarpal bone dactylus front view in the specific embodiment of the invention one; Fig. 6 is the side view of metacarpal bone dactylus except metacarpal bone pedestal in the specific embodiment of the invention one; Fig. 7 is nearly dactylus and dactylus cutaway view far away in the specific embodiment of the invention one; Fig. 8 is nearly dactylus and dactylus axonometric chart far away in the specific embodiment of the invention one; Fig. 9 is dactylus finger belly front view far away in the specific embodiment of the invention one; Figure 10 is metacarpal bone base construction schematic diagram of the present invention.
The specific embodiment
The specific embodiment one: as shown in Fig. 1～10, the two-freedom modularity with power position and tactilely-perceptible function of the present embodiment thumb of doing evil through another person comprises metacarpal bone dactylus, nearly dactylus and dactylus far away, metacarpal bone dactylus comprises the first motor 1, the first decelerator 2, fixed frame 3, the first worm screw 4, the first worm shaft 7, the first end cap 8, the first worm gear 10, the first worm gear cover plate 11, metacarpal bone joint shaft 12, metacarpal bone joint screw 13, metacarpal bone pedestal 14, position sensor 15, fixing rack for sensor 16, the first Plastic gear wheel 17, the second Plastic gear wheel 18 and power transmission shaft 19,
The outfan of described the first motor 1 is connected with the input of the first decelerator 2, the first decelerator 2 is packed on fixed frame 3, fixed frame 3 is fixedly connected with palm, one end of the first worm screw 4 is connected with the first decelerator 2 output shafts, the other end of the first worm screw 4 is provided with the first worm shaft 7, the first worm shaft 7 by bearings on the first end cap 8, the two end supports of metacarpal bone joint shaft 12 is on fixed frame 3, one end of the first worm gear 10 and metacarpal bone pedestal 14 is all installed on metacarpal bone joint shaft 12, the first worm gear 10 is positioned at one end of metacarpal bone pedestal 14, described the first worm gear 10 engages with the first worm screw 4, one end of metacarpal bone joint shaft 12 is provided with the first worm gear cover plate 11, metacarpal bone joint shaft 12 is strained by metacarpal bone joint screw 13, on the other end of metacarpal bone joint shaft 12, be installed with the second Plastic gear wheel 18, position sensor 15 is fixed on fixing rack for sensor 16, the first plastic gear 17 is arranged on the power transmission shaft 19 of position sensor 15, the first plastic gear 17 is connected with the endoporus axial restraint of position sensor 15, the first Plastic gear wheel 17 and the second Plastic gear wheel 18 are intermeshing, this fixed mount is fixed in palm,
Nearly dactylus comprises the second motor 20, the second decelerator 21, nearly dactylus shell 22, rotating frame 23, the second worm screw 24, the second worm shaft 27, the second end cap 28, worm screw buckle closure 30, the second worm gear 31, the second worm gear cover plate 32, base joint shaft 33, passive flexible member 34, base joint screw 35 and trim 36 and nearly dactylus wire wheel;
The outfan of described the second motor 20 is connected with the input of the second decelerator 21, the second decelerator 21 is fixed on rotating frame 23, nearly dactylus shell 22 is fixed on rotating frame 23 and the second motor 20 and the second decelerator 21 are all positioned at nearly dactylus shell 22, the upper end of nearly dactylus shell 22 is processed with the first round platform, one end of the second worm screw 24 is connected with the output shaft of the second decelerator 21, the other end of the second worm screw 24 is provided with the second worm shaft 27, the second worm shaft 27 by bearings on the second end cap 28, trim 36 is arranged on the second end cap 28, worm screw buckle closure 30 is fixed on rotating frame 23, the two end supports of base joint shaft 33 is on rotating frame 23, the other end of the second worm gear 31 and metacarpal bone pedestal 14 is all installed on base joint shaft 33, the second worm gear 31 is positioned at the other end of metacarpal bone pedestal 14, the second worm gear 31 engages with the second worm screw 24, one end of base joint shaft 33 is strained by base joint screw 35 by the second worm gear cover plate 32, and passive flexible member 34 is arranged on metacarpal bone pedestal 14 and between the second worm gear 31 and metacarpal bone pedestal 14, and nearly dactylus wire wheel is packed on the sidewall of the second worm gear 31,
Dactylus far away comprises finger tip upper cover plate 37, finger tip lower cover 38, middle joint shaft 39, middle joint screw 40, dactylus wire wheel 41 far away, torsion spring 42, fingertip location sensor 43, finger tip torque sensor foil gauge 44, touch sensor 45, finger tip double-screw bolt 46, thimble 47 and steel wire, finger tip upper cover plate 37 is arranged on finger tip lower cover 38, finger tip upper cover plate 37 and finger tip lower cover 38 common formation dactylus shell far away, on the right side inwall of finger tip lower cover 38 bottoms, be processed with the second round platform, dactylus wire wheel 41 far away is arranged on the second round platform, torsion spring 42 is sleeved on the first round platform of dactylus shell 22, one of torsion spring 42 turns round arm and is embedded in the top of nearly dactylus shell 22, another of torsion spring 42 turns round arm and finger tip lower cover 38 is affixed, finger tip torque sensor foil gauge 44 is affixed on the inwall of finger tip lower cover 38 upper ends, in the finger belly of dactylus far away, be provided with touch sensor 45, touch sensor 45 is spacing by thimble 47, the two ends of middle joint shaft 39 are arranged on the bottom of finger tip lower cover 38, fingertip location sensor 43, the upper end of nearly dactylus shell 22 and dactylus wire wheel 41 far away are all installed on middle joint shaft 39, middle joint shaft 39 is fixing by middle joint screw 40, steel wire winding on nearly dactylus wire wheel and dactylus wire wheel 41 far away and the two ends of steel wire be separately fixed on nearly dactylus and dactylus far away, finger tip double-screw bolt 46 is strained finger tip upper cover plate 37 and finger tip lower cover 38 by screw.
What position sensor 15 adopted is the potentiometer of the SV01 series of MURATA company.
As shown in figure 10, metacarpal bone pedestal of the present invention 14 one end are metacarpal bone dactylus pedestal, and the other end is nearly dactylus pedestal.Wherein, one end of nearly dactylus pedestal is processed with groove, and described groove floor becomes 20 degree angles with horizontal plane, can guarantee so the initial pose of thumb; With the centre bore of metacarpal bone coupling part be D type hole, can guarantee together with metacarpal bone worm gear 10 to rotate.
The two-freedom modularity of the power of having of the present invention position and tactilely-perceptible function do evil through another person thumb cabling mode and other four fingers roughly the same, difference is that power line and connection are the hole through rotating frame 23, the centre bore of the second end cap 28 are incorporated into after trim 36 successively, first be fixed on the side of metacarpal bone pedestal 14 by tension disc, make the required line length of flexion/extension stay this interval; Continue lead-in wire in the hole of the first end cap 8 of metacarpal bone part, due to palm space abundance, line can be linked on socket along hand back plate again, and the required line length of abduction/adduction is stayed in palm.
The specific embodiment two: the left side of present embodiment the first plastic gear 17 is processed with " D " shape round platform of one, and " D " shape round platform is arranged in the endoporus of position sensor 15.So design, can make to rotate together with the endoporus of the first plastic gear 17 and position sensor 15, thereby realizes the relative motion of endoporus and the shell of position sensor, guarantees that it can normally work.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: as shown in Figure 4, described in present embodiment, metacarpal bone dactylus also comprises the first worm screw pad 5 and the first plastic sleeve 6, on one end of described the first worm screw 4, be set with successively the first worm screw pad 5 and the first plastic sleeve 6, the first worm screw pads 5 and the first plastic sleeve 6 between the first decelerator 2 and fixed frame 3.So design, both can resist the larger axial load of the first worm screw 4 effectively, also can be by the suitable coefficient of friction of the two material decision of suitable selection to reduce the loss of driving force.The first worm screw pad 5 and the first plastic sleeve 6 can also replace with thrust bearing, can reduce better although it is so frictional dissipation, but finger size can increase relatively.Other composition and annexation are identical with the specific embodiment one or two.
The specific embodiment four: as shown in Figure 7, described in present embodiment, nearly dactylus also comprises the second worm screw pad 25 and the second plastic sleeve 26, on one end of described the second worm screw 24, be set with successively the second worm screw pad 25 and the second plastic sleeve 26, the second worm screw pads 25 and the second plastic sleeve 26 between the second decelerator 21 and the second worm screw 24.So design, both can resist the larger axial load of the second worm screw 24 effectively, also can be by the suitable coefficient of friction of the two material decision of suitable selection to reduce the loss of driving force.The second worm screw pad 25 and the second plastic sleeve 26 can also replace with thrust bearing, can reduce better although it is so frictional dissipation, but finger size can increase relatively.Other composition and annexation are identical with the specific embodiment three.
The specific embodiment five: as shown in Figure 4, metacarpal bone dactylus also comprises that the first adjustment pad 9, the first adjusts pads 9 between the first worm screw 4 and the first end cap 8 described in present embodiment.So design, can adjust the first worm screw 4 and compress the degree of the first plastic sleeve 6, and worm screw can be turned round swimmingly.Other composition and annexation are identical with the specific embodiment one, two or four.
The specific embodiment six: as shown in Figure 7, nearly dactylus also comprises that the second adjustment pad 29, the second adjusts pads 29 between the second worm screw 24 and the second end cap 28 described in present embodiment.So design, can adjust the second worm screw 24 and compress the degree of the second plastic sleeve 26, and worm screw can be turned round swimmingly.Other composition and annexation are identical with the specific embodiment five.
Operation principle:
As shown in Fig. 1～10
The abduction of thumb, interior receipts: the first motor 1 output shaft of metacarpal bone dactylus drives the first decelerator 2 to work, the output shaft of the first decelerator 2 drives the first worm screw 4 to drive the first worm gear 10 to rotate, thereby metacarpal bone pedestal 14 is rotated;
The bending of thumb, stretching, extension: the second motor 20 output shafts of nearly dactylus drive the second decelerator 21 to work, the output shaft of the second decelerator 21 drives the second worm screw 24 to rotate, nearly dactylus the second worm gear 31 is fixed on metacarpal bone pedestal 14, the second worm gear 31 is motionless with respect to metacarpal bone pedestal 14, therefore the second motor 20, the second decelerator 21, nearly dactylus shell 22, rotating frame 23 and the second worm screw 24 start to rotate around the second worm gear 31, thereby nearly dactylus is rotated; Steel wire is to be wound around on the wire wheel of two dactylus, and because steel wire length is constant, the distance of winding will be by pulling fingertip motions to compensate, thereby formed the coupled motions of dactylus far away, and the reset of dactylus far away realizes by torsion spring 42.
Claims (6)
1. a two-freedom modularity with power position and the tactilely-perceptible function thumb of doing evil through another person, the described thumb of doing evil through another person comprises metacarpal bone dactylus, nearly dactylus and dactylus far away, it is characterized in that: metacarpal bone dactylus comprises the first motor (1), the first decelerator (2), fixed frame (3), the first worm screw (4), the first worm shaft (7), the first end cap (8), the first worm gear (10), the first worm gear cover plate (11), metacarpal bone joint shaft (12), metacarpal bone joint screw (13), metacarpal bone pedestal (14), position sensor (15), fixing rack for sensor (16), the first Plastic gear wheel (17), the second Plastic gear wheel (18) and power transmission shaft (19),
The outfan of described the first motor (1) is connected with the input of the first decelerator (2), the first decelerator (2) is packed on fixed frame (3), one end of the first worm screw (4) is connected with the first decelerator (2) output shaft, the other end of the first worm screw (4) is provided with the first worm shaft (7), the first worm shaft (7) by bearings on the first end cap (8), the two end supports of metacarpal bone joint shaft (12) is on fixed frame (3), one end of the first worm gear (10) and metacarpal bone pedestal (14) is all installed on metacarpal bone joint shaft (12), the first worm gear (10) is positioned at one end of metacarpal bone pedestal (14), described the first worm gear (10) engages with the first worm screw (4), one end of metacarpal bone joint shaft (12) is provided with the first worm gear cover plate (11),
Metacarpal bone joint shaft (12) is by metacarpal bone joint screw (13) tension, on the other end of metacarpal bone joint shaft (12), be installed with the second Plastic gear wheel (18), position sensor (15) is fixed on fixing rack for sensor (16), the first plastic gear (17) is arranged on the power transmission shaft (19) of position sensor (15), the first plastic gear (17) is connected with the endoporus axial restraint of position sensor (15), and the first Plastic gear wheel (17) and the second Plastic gear wheel (18) are intermeshing;
Nearly dactylus comprises the second motor (20), the second decelerator (21), nearly dactylus shell (22), rotating frame (23), the second worm screw (24), the second worm shaft (27), the second end cap (28), worm screw buckle closure (30), the second worm gear (31), the second worm gear cover plate (32), base joint shaft (33), passive flexible member (34), base joint screw (35) and trim (36) and nearly dactylus wire wheel;
The outfan of described the second motor (20) is connected with the input of the second decelerator (21), the second decelerator (21) is fixed on rotating frame (23), nearly dactylus shell (22) is fixed on upper and the second motor (20) of rotating frame (23) and the second decelerator (21) is all positioned at nearly dactylus shell (22), the upper end of nearly dactylus shell (22) is processed with the first round platform, one end of the second worm screw (24) is connected with the output shaft of the second decelerator (21), the other end of the second worm screw (24) is provided with the second worm shaft (27), the second worm shaft (27) by bearings on the second end cap (28), trim (36) is arranged on the second end cap (28), worm screw buckle closure (30) is fixed on rotating frame (23), the two end supports of base joint shaft (33) is on rotating frame (23), the other end of the second worm gear (31) and metacarpal bone pedestal (14) is all installed on base joint shaft (33), the second worm gear (31) is positioned at the other end of metacarpal bone pedestal (14), the second worm gear (31) engages with the second worm screw (24), one end of base joint shaft (33) is strained by base joint screw (35) by the second worm gear cover plate (32), passive flexible member (34) is arranged on metacarpal bone pedestal (14) and goes up and be positioned between the second worm gear (31) and metacarpal bone pedestal (14), and nearly dactylus wire wheel is packed on the sidewall of the second worm gear (31),
Dactylus far away comprises finger tip upper cover plate (37), finger tip lower cover (38), middle joint shaft (39), middle joint screw (40), dactylus wire wheel (41) far away, torsion spring (42), fingertip location sensor (43), finger tip torque sensor foil gauge (44), touch sensor (45), finger tip double-screw bolt (46), thimble (47) and steel wire, finger tip upper cover plate (37) is arranged on finger tip lower cover (38), finger tip upper cover plate (37) and finger tip lower cover (38) form dactylus shell far away jointly, on the right side inwall of finger tip lower cover (38) bottom, be processed with the second round platform, dactylus wire wheel (41) far away is arranged on the second round platform, torsion spring (42) is sleeved on the first round platform of dactylus shell (22), one of torsion spring (42) turns round arm and is embedded in the top of nearly dactylus shell (22), another of torsion spring (42) turns round arm and finger tip lower cover (38) is affixed, finger tip torque sensor foil gauge (44) is affixed on the inwall of finger tip lower cover (38) upper end, in the finger belly of dactylus far away, be provided with touch sensor (45), touch sensor (45) is spacing by thimble (47), the two ends of middle joint shaft (39) are arranged on the bottom of finger tip lower cover (38), fingertip location sensor (43), the upper end of nearly dactylus shell (22) and dactylus wire wheel (41) far away are all installed on middle joint shaft (39), middle joint shaft (39) is fixing by middle joint screw (40), steel wire winding is separately fixed on nearly dactylus and dactylus far away at nearly dactylus wire wheel and dactylus wire wheel (41) far away two ends upper and steel wire, finger tip double-screw bolt (46) is strained finger tip upper cover plate (37) and finger tip lower cover (38) by screw.
2. the two-freedom modularity of the power of having according to claim 1 position and the tactilely-perceptible function thumb of doing evil through another person, it is characterized in that: the left side of the first plastic gear (17) is processed with " D " shape round platform of one, and " D " shape round platform is arranged in the endoporus of position sensor (15).
3. the two-freedom modularity of the power of having according to claim 1 and 2 position and the tactilely-perceptible function thumb of doing evil through another person, it is characterized in that: described metacarpal bone dactylus also comprises the first worm screw pad (5) and the first plastic sleeve (6), on one end of described the first worm screw (4), be set with successively the first worm screw pad (5) and the first plastic sleeve (6), the first worm screw pad (5) and the first plastic sleeve (6) are positioned between the first decelerator (2) and fixed frame (3).
4. the two-freedom modularity of the power of having according to claim 3 position and the tactilely-perceptible function thumb of doing evil through another person, it is characterized in that: described nearly dactylus also comprises the second worm screw pad (25) and the second plastic sleeve (26), on one end of described the second worm screw (24), be set with successively the second worm screw pad (25) and the second plastic sleeve (26), the second worm screw pad (25) and the second plastic sleeve (26) are positioned between the second decelerator (21) and the second worm screw (24).
5. according to the thumb of doing evil through another person of the two-freedom modularity with power position and tactilely-perceptible function described in claim 1,2 or 4, it is characterized in that: described metacarpal bone dactylus also comprises the first adjustment pad (9), first adjusts pad (9) is positioned between the first worm screw (4) and the first end cap (8).
6. the two-freedom modularity of the power of having according to claim 5 position and the tactilely-perceptible function thumb of doing evil through another person, it is characterized in that: described nearly dactylus also comprises the second adjustment pad (29), second adjusts pad (29) is positioned between the second worm screw (24) and the second end cap (28).
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| CN201410100181.5A CN103830025B (en) | 2014-03-18 | 2014-03-18 | The two-freedom modularity with power position and tactilely-perceptible function is done evil through another person thumb |
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| CN201410100181.5A CN103830025B (en) | 2014-03-18 | 2014-03-18 | The two-freedom modularity with power position and tactilely-perceptible function is done evil through another person thumb |
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| CN103830025B CN103830025B (en) | 2015-08-19 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN105397823A (en) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | Self-locking abduction-adduction mechanism for thumb of dexterous robot hand |
| CN105666506A (en) * | 2014-11-18 | 2016-06-15 | 鸿富锦精密工业（深圳）有限公司 | Robot finger |
| CN105965535A (en) * | 2016-05-04 | 2016-09-28 | 上海科生假肢有限公司 | Carpometacarpal joint of bionic hand |
| CN106038008A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger |
| CN106038000A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of finger distal phalanx and finger middle phalanx of prosthetic finger |
| CN106344223A (en) * | 2016-11-08 | 2017-01-25 | 哈尔滨工业大学 | Thumb passive joint for artificial hand of disabled people |
| CN106491250A (en) * | 2016-11-08 | 2017-03-15 | 哈尔滨工业大学 | Thumb is coupled for high the imitating of electric motor built-in that disabled person does evil through another person |
| CN107397613A (en) * | 2017-06-27 | 2017-11-28 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis the five fingers interlinked mechanism |
| CN107901059A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | The finger mechanism of worm and gear driving |
| CN107962578A (en) * | 2017-10-13 | 2018-04-27 | 杭州若比邻机器人科技有限公司 | The finger mechanism of screw drives |
| CN115107067A (en) * | 2022-05-17 | 2022-09-27 | 哈尔滨工业大学 | Electric system of humanoid manipulator and humanoid manipulator |
| WO2023132403A1 (en) * | 2022-01-10 | 2023-07-13 | 만드로 주식회사 | Structure of motor and reducer built into prosthetic finger |
| US11786381B2 (en) | 2017-12-15 | 2023-10-17 | Touch Bionics Limited | Powered prosthetic thumb |
| US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105666506A (en) * | 2014-11-18 | 2016-06-15 | 鸿富锦精密工业（深圳）有限公司 | Robot finger |
| CN105666506B (en) * | 2014-11-18 | 2017-12-12 | 鸿富锦精密工业（深圳）有限公司 | Robot finger |
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN106038008A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger |
| CN106038000A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of finger distal phalanx and finger middle phalanx of prosthetic finger |
| CN106038008B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | The base finger joint of artificial limb finger and the attachment structure in base joint |
| CN105397823A (en) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | Self-locking abduction-adduction mechanism for thumb of dexterous robot hand |
| CN105965535A (en) * | 2016-05-04 | 2016-09-28 | 上海科生假肢有限公司 | Carpometacarpal joint of bionic hand |
| CN106344223B (en) * | 2016-11-08 | 2018-07-03 | 哈尔滨工业大学 | The thumb passive joint done evil through another person for disabled person |
| CN106344223A (en) * | 2016-11-08 | 2017-01-25 | 哈尔滨工业大学 | Thumb passive joint for artificial hand of disabled people |
| CN106491250A (en) * | 2016-11-08 | 2017-03-15 | 哈尔滨工业大学 | Thumb is coupled for high the imitating of electric motor built-in that disabled person does evil through another person |
| CN107397613A (en) * | 2017-06-27 | 2017-11-28 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis the five fingers interlinked mechanism |
| CN107962578A (en) * | 2017-10-13 | 2018-04-27 | 杭州若比邻机器人科技有限公司 | The finger mechanism of screw drives |
| CN107901059A (en) * | 2017-10-13 | 2018-04-13 | 杭州若比邻机器人科技有限公司 | The finger mechanism of worm and gear driving |
| CN107962578B (en) * | 2017-10-13 | 2020-06-12 | 杭州若比邻机器人科技有限公司 | Spiral-driven finger mechanism |
| US11786381B2 (en) | 2017-12-15 | 2023-10-17 | Touch Bionics Limited | Powered prosthetic thumb |
| US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
| WO2023132403A1 (en) * | 2022-01-10 | 2023-07-13 | 만드로 주식회사 | Structure of motor and reducer built into prosthetic finger |
| CN115107067A (en) * | 2022-05-17 | 2022-09-27 | 哈尔滨工业大学 | Electric system of humanoid manipulator and humanoid manipulator |
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