CN104400792B - Inter flexible coupling joint fingers Underactuated - Google Patents

Inter flexible coupling joint fingers Underactuated Download PDF

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CN104400792B
CN104400792B CN201410557059.0A CN201410557059A CN104400792B CN 104400792 B CN104400792 B CN 104400792B CN 201410557059 A CN201410557059 A CN 201410557059A CN 104400792 B CN104400792 B CN 104400792B
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finger
spring
pulley
near
end
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CN201410557059.0A
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CN104400792A (en
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熊蔡华
陈文锐
张乔飞
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华中科技大学
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Abstract

本发明公开了一种关节间柔性耦合的欠驱动手指,其中手指以滑轮为主要部件,手指内传动机构采用张紧绳和防松绳依次缠绕于手指的各滑轮上,以及指节间的两个耦合弹簧及拉绳,由此实现一个输入完成手指多个自由度的运动。 The present invention discloses a finger under the flexible coupling between the drive for articulated, wherein the finger member to the main pulley, the drive mechanism using the fingers and the anti-slack rope tensioning rope successively wound around the respective pulleys of the fingers, and two finger sections a spring and a rope is coupled, thereby achieving a plurality of finger input is complete freedom of movement. 通过本发明,手指本体以及手指内传动机构配合形成一个欠驱动手指,能够精确实现抓取时的自适应能力,同时其内嵌入式的柔顺性使该手指适用于在各类复杂应用环境的假肢手器械。 By the present invention, the finger and the finger actuator body is formed with a finger under drive can be accurately grasping adaptive ability, while compliant embedded therein so that the finger is suitable for all types of prostheses in complex application environments hand instruments.

Description

一种关节间柔性耦合的欠驱动手指 Inter flexible coupling joint fingers Underactuated

技术领域 FIELD

[0001] 本发明属于医疗器械设备技术领域,更具体地,涉及一种关节间柔性耦合的欠驱动手指。 [0001] The present invention belongs to the technical field of medical appliances and equipment, and more particularly, relates to a flexible coupling joint inter Underactuated finger.

背景技术 Background technique

[0002] 手指是假肢手的基本组成部分,手指设计的优劣直接决定的假肢手的功能能否实现。 [0002] finger is an essential part of the prosthetic hand, the function of prosthetic hands finger directly determine the merits of the design can be achieved. 手指设计除了要能完成各种抓取任务外,还应使假肢手的外观和体积尽量与人手接近,并且能用目前能获取的较少的生理信号控制实现丰富的抓取和操作功能。 Finger design in addition to be able to complete a variety of tasks crawl, it should also make the appearance and size of the prosthetic hand as close as possible to the staff, and can be used to control the current physiological signals can be acquired less for rich grasping and manipulation. 这就为假肢手指的设计提出了基本要求:少驱动源驱动与人手相当的多关节手指,实现拟人的外观与抓取操作功能。 This raises the basic requirements for the design of prosthetic finger: little driving source of considerable manpower and multi-joint finger, realize anthropomorphic appearance and crawling function.

[0003] 对此,现有技术中已经提出了一些解决方案。 [0003] In this regard, the prior art has proposed some solutions. 例如,西班牙的MANUS-HAND假肢手指采用一个驱动器驱动三个关节耦合运动,该手指虽然减少了驱动数,但手指不具有顺应性,不能在抓取过程中顺应物体形状实现拟人抓取。 For example, Spanish MANUS-HAND prosthetic finger using a driver drives three joints coupled motion, while reducing the number of drive of the finger, but does not have a compliant finger, does not conform to the shape of the object to achieve the anthropomorphic crawl crawling process. 加拿大Gosselin研究团队研制的连杆欠驱动手指具有良好的顺应能力和足够大的抓取力,但该手指机构太大,无法嵌入到假肢中,而且该手指在抓取中会出现奇异姿态。 Gosselin Canadian research team developed links underactuated finger and has a good ability to adapt sufficiently large gripping force, but the finger institution is too large to be embedded in the artificial limb and the finger will appear in the crawl bizarre attitude. 此外,国内哈尔滨工业大学和德国宇航中心最新研制了集成于五指仿人手中的手指只需要一个驱动源,但是其抓取模式单一,不能完成自适应的抓取,这种方法会带来使得其控制难度增加,和传感器多且控制电路复杂的特点,因而难以满足假肢手轻便和操控方便等方面的要求。 In addition, domestic Harbin Institute of Technology and the German Aerospace Center recently developed a humanoid fingers integrated in the hands of only one finger driving source, but its single crawl mode, unable to complete the adaptive crawling, this approach will bring make it more difficult to control, and the control circuit and a multi-sensor complex features, it is difficult to meet the prosthetic hand light and easy manipulation and other requirements.

发明内容 SUMMARY

[0004] 针对现有技术的以上缺陷或改进需求,本发明提供了一种关节间柔性耦合的欠驱动手指,其中通过对其关键组件如各个手指的内部构造以及手指内传动机构和的结构及设置方式进行改进,相应能够仅采用一个输入便能控制手指三个自由度,复现人手动态协调规律,精确实现抓取时的自适应能力,同时其内嵌入式的柔顺性使该手指适用于在各类复杂应用环境的假肢手器械。 [0004] To solve the above drawbacks of the prior art or the need for improvement, the present invention provides a less flexible drive coupling between the finger for articulated, by its structure wherein the key components such as the internal structure of each finger and the inner finger and the gear mechanism and improved arrangement, a corresponding input can be able to employ only three degrees of freedom control finger, hand laws of reproducing dynamic, adaptive precision grasping ability, while compliant embedded therein so that the finger is suitable for prosthetic hand equipment in all types of complex application environments.

[0005] 为实现上述目的,按照本发明,提供了一种关节间柔性耦合的欠驱动手指,这些手指为具备相同结构的拇指、食指、中指、无名指和小指,将靠近手掌的方向定义为近端,而远离手掌的方向定义为远端,则各个手指由近及远分别包括掌指关节组件、近指节组件、远指节组件和中指节,其特征在于: [0005] To achieve the above object, according to the present invention, there is provided an inter-joint driving direction under the flexible coupling fingers, the fingers have the same configuration as the thumb, index, middle, ring and little fingers, the palm is defined as nearly close end, and is defined as the direction away from the distal end of the palm, the finger by the respective near and far, respectively metacarpophalangeal joint assembly comprising, near the knuckle assembly, assembly distal phalanx and the middle section, wherein:

[0006] 所述掌指关节组件包括掌指关节、横向设置在该掌指关节近端处的掌指关节连接轴、沿着手指轴向方向居中设置在该掌指关节连接轴上的第一滑轮、横向设置在该掌指关节远端处的第一旋转轴,以及沿着手指轴向方向居中设置在所述第一旋转轴上的第二滑轮;所述近指节组件包括与所述掌指关节远端相连的近指节、横向设置在该近指节远端处的第二旋转轴,以及沿着手指轴向方向居中设置在所述第二旋转轴上的第三滑轮;所述远指节组件包括远指节、横向设置在该远指节近端处的第三旋转轴、沿着手指轴向方向居中设置在所述第三旋转轴上的第四滑轮,以及套设在远指节远端处的远指端;所述中指节呈一体的圆柱体结构,并在其两端分别与所述近指节和远指节可相对弯折地相连; [0006] The metacarpophalangeal joint assembly comprising a metacarpophalangeal joints, metacarpal joint disposed laterally at the proximal end of the finger joints connecting shaft palm, centrally disposed in the metacarpophalangeal joints connecting a first shaft along the axial direction of the finger pulleys means that the first rotational shaft disposed laterally at the distal end joint, and a second centrally disposed on the first pulley rotary shaft along an axial direction of the finger in the palm; the proximal phalanx of the assembly comprising metacarpophalangeal joints connected near the distal end of the knuckle, laterally disposed near the second rotation shaft section means at the distal end, and a third pulley arranged centrally on the second rotary shaft along the axial direction of the finger; the said distal knuckle assembly includes a distal phalanx, disposed laterally of the distal section refers to the third rotation shaft at the proximal end, disposed centrally in the fourth pulley to the third rotation shaft, and a sleeve disposed along an axial direction of the finger It means at the distal section of the distal end of the distal finger; middle section of the structure of a cylindrical body integrally, and at both ends thereof, respectively, and the proximal phalanx distal phalanx may be attached to opposite bent;

[0007] 此外,在上述五个手指的内部,分别对应设置有手指内传动机构,该手指内传动机构各自包括与所述第一滑轮相连的驱动绳、依次缠绕在所述第一滑轮、第二滑轮、第三滑轮和第四滑轮上的张紧绳、与所述张紧绳对称布置并与之共同模拟手指肌腱的放松绳、设置在所述第二滑轮与第三滑轮之间的近指节耦合弹簧,以及设置在所述第三滑轮与第四滑轮之间的中指节耦合弹簧,其中,该近指节耦合弹簧的一端采用第一近指节弹簧张紧绳相连,且该第一近指节弹簧张紧绳的另外一端固定于所述掌指关节,该近指节耦合弹簧的另外一端采用第二近指节弹簧张紧绳相连,且该第二近指节弹簧张紧绳的另外一端固定于所述中指节;此外,该中指节耦合弹簧的一端采用第一中指节弹簧张紧绳相连,且该第一中指节弹簧张紧绳的另外一端固定于所述近指节,该 [0007] Further, inside the five fingers, each finger corresponding to the inner drive mechanism provided within each of the finger drive mechanism comprises a drive pulley connected to the first cord sequentially wound around the first pulley, the second two pulleys, the rope tensioning third pulley and a fourth pulley, said tensioning cord arranged symmetrically and with a common discharge Songsheng simulated finger tendon, disposed between the second pulley and the third pulley near knuckle coupling spring, and a spring disposed in the middle section coupled between the third pulley and the fourth pulley, wherein the coupling section near one end of the spring means with a first spring section connected near the tensioning string means, and the second a knuckle near the other end of the rope tensioning spring is fixed to the metacarpophalangeal joints, knuckles near the other end coupled to the spring means is connected with a second section near rope tensioning spring, and the spring tensioned second knuckle near the other end of the rope is fixed to the middle section; Further, one end coupled to the middle section of the middle section with a first spring spring-tensioning rope is connected to the middle section and the first string tensioning spring fixed to the other end of said proximal interphalangeal festival, the 中指节耦合弹簧的另外一端采用第二中指节弹簧张紧绳相连,且该第二中指节弹簧张紧绳的另外一端固定于所述远指节。 The middle section of the other end of the spring is coupled with a second string tensioning spring connected to the middle section, the middle section and the second tensioning spring the other end of the rope is fixed to the distal phalanx.

[0008] 作为进一步优选地,各个手指的指节处优选还设置有机械限位机构,其中掌指关节、近指节、中指节和远指节位于手背一面的呈凸台结构,而位于手心一面的呈弧面结构,由此确保各个指节可向手心弯曲90度。 [0008] As a further preferred, preferably at the knuckles of each finger is also provided a mechanical stop mechanism, wherein the metacarpophalangeal joints, proximal interphalangeal section, middle section and the distal phalanx was located at the back side of the boss structure, located in the palms and the arc-side structure, thereby ensuring that each finger section can be bent 90 degrees to the palm of the hand.

[0009] 作为进一步优选地,各个手指的内部优选设置有两套所述手指内传动机构,这两套手指内传动机构分别对应安装在手指的两侧,由此共同完成手指的自适应功能。 [0009] As further preferred that the interior of each finger is preferably provided with a transmission mechanism within the two fingers, the two fingers which respectively drive means mounted on both sides of the finger, thereby performing adaptive functions fingers together.

[0010] 所述手指内传动机构共同包含有四个传动组,其中各自由近指节耦合弹簧和中指节耦合弹簧所构成的第一传动组和第四传动组共同用于手指的自适应能力,而分别由放松绳和张紧绳构成的第二传动组和第三传动组分别用于手指的弯曲和伸直。 [0010] The common inner finger actuator includes four transmission groups, each consisting of nearly wherein the first transmission means adaptability and fourth transmission unit section and the middle section of the coupling spring coupled together for constituting the spring fingers , respectively the second and the third gear set and the transmission unit discharge Slack tensioning string configuration for the fingers are bent and straightened.

[0011] 总体而言,通过本发明所构思的以上技术方案与现有技术相比,主要具备以下的技术优点: [0011] In general, compared with the prior art by the above technical solution of the inventive concept, mainly includes the following technical advantages:

[0012] 1、本发明通过滑轮与钢丝绳的配合,由主动驱动来完成手指的弯曲与伸直,从而达到欠驱动的目的,完成一个输入源实现三个自由度的控制,以此方式便可以实现一个电机实现一个手指的运动,并有效复现人手动态协调规律; [0012] 1, the present invention is by blending the rope pulley, by a positive drive to complete the bend and straighten the fingers to achieve the purpose underactuated, input source to achieve a complete control of the three degrees of freedom, in this way they can implement a motor to achieve a movement of the fingers, hands and effectively reproduce the dynamic coordination of law;

[0013] 2、通过两组耦合弹簧的变形,实现手指在碰触物体之后的自适应能力,手指多余的行程被弹簧的变形所吸收,因而能完成对各种物体形状的自适应,并有助于进一步提高抓握运动的准确性; [0013] 2, by the deformation of the two coupling springs, adaptive ability finger after touching the object, finger excess stroke is absorbed by deformation of the spring, thereby to complete adaptation to various objects shaped, and has help to further improve the accuracy of grasping motion;

[0014] 3、通过两组弹簧将三个关节柔性耦合,采用最少的弹性约束来限制手指的自由运动,使手指在接触物体之前的自由运动状态不会引起弹簧变形,这种弹簧布置使手指的能耗最小; [0014] 3, by two sets of three spring flexible coupling joint, with a minimum of elastic constraints limit the freedom of movement of the finger, the finger movement in the free state before contacting the object will not cause deformation of the spring, such a spring finger arrangement the minimum energy consumption;

[0015] 4、按照本发明所构建的假肢手手指与现有技术相比能够在不增加电机数量的同时实现手指的自适应运动,并具备体积小,结构紧凑容易控制,仿人程度高等特点,因而尤其适用于假肢手手指医疗器械的领域。 [0015] 4, can be realized according to the present invention is constructed in the prior art prosthetic hand and fingers compared to the motor without increasing the number of simultaneous adaptive movement of the finger, and with small size, compact structure is easily controlled, and high degree of humanoid therefore especially suitable for prosthetic fingers hand medical equipment field.

附图说明 BRIEF DESCRIPTION

[0016] 图1是按照本发明的手指本体的结构示意图; [0016] FIG. 1 is a schematic diagram of the structure of a finger of the body of the present invention;

[0017]图2是按照本发明优选实施例的两组耦合弹簧及其传动系统的结构示意图; [0017] FIG. 2 is an embodiment of the two coupling springs and the drive system structural diagram according to a preferred embodiment of the present invention;

[0018] 图3是用于显示放松绳及其传动系统的结构剖视图; [0018] FIG. 3 is a cross-sectional view of the discharge structure and slack rope drive system for display;

[0019] 图4是用于显示张紧绳及其传动系统的结构剖视图; [0019] FIG. 4 is a cord tensioning and drive system for displaying cross-sectional view of the structure;

[0020] 图5是用于与图2相配合使用的另外两组耦合弹簧及其传动系统的结构示意图; [0020] FIG. 5 is another schematic structural view of a spring coupling groups used in the transmission system in FIG. 2 and for cooperating;

[0021] 图6是用于显示按照本发明的手指驱动绳的结构示意图; [0021] FIG. 6 is a schematic structural diagram of the drive rope according to the present invention for displaying a finger;

[0022] 图7是用于显示按照本发明的欠驱动手指执行弯曲动作的示意图。 [0022] FIG. 7 is a schematic diagram of the bending operation performed in accordance with the present invention under driving finger for display.

具体实施方式 Detailed ways

[0023] 为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。 [0023] To make the objectives, technical solutions and advantages of the present invention will become more apparent hereinafter in conjunction with the accompanying drawings and embodiments of the present invention will be further described in detail. 应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。 It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. 此外,下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。 Moreover, various embodiments of the invention described below involved the technical features as long as no conflict with one another can be configured in combination with each other.

[0024]图1是按照本发明的欠驱动假肢手指的整体结构示意图。 [0024] FIG. 1 is an overall schematic view of a driving finger prosthesis according to the present invention is less. 该欠驱动手指包括拇指、食指、中指、无名指和小指,如图1中所示,该欠驱动假肢手手指本体由近及远依次包括手指掌指关节、手指近指节、手指中指节、手指远指节和手指远指端,根据人体解剖学定义我们将靠近手掌方向称为近端,远离手掌方向称为远端。 The driving under the finger including the thumb, index, middle, ring and little finger, as shown in Figure 1, the prosthetic hand driving under the finger body includes, in order from near and far metacarpophalangeal joints, proximal interphalangeal finger section, the middle section of the finger, the finger far finger knuckles and fingers away, we will close the palm known as the proximal direction according to the definition of human anatomy, called the distal direction away from the palm of your hand.

[0025] 具体而言,对于掌指关节组件而言,它包括掌指关节1、横向设置在该掌指关节I近端处的掌指关节连接轴2、沿着手指轴向方向居中设置在该掌指关节连接轴2上的第一滑轮3、横向设置在该掌指关节I远端处的第一旋转轴4,以及沿着手指轴向方向居中设置在第一旋转轴4上的第二滑轮5 ;掌指关节连接轴2、第一旋转轴4与掌指关节I譬如由轴承固定,由此能相对旋转并在掌指关节I处发生弯折。 [0025] Specifically, for the purposes of the metacarpophalangeal joint assembly, comprising a metacarpophalangeal joint, transversely disposed at the proximal end knuckles I metacarpophalangeal joint connecting shaft 2 in the palm, the middle finger is disposed in the axial direction the metacarpophalangeal joint connecting the shaft of the first pulley 23, the laterally disposed metacarpophalangeal joint I first rotation shaft 4 at the distal end, and a centrally disposed on the first rotating shaft 4 along the axial direction of the finger of two pulleys 5; metacarpophalangeal joint connecting shaft 2, the first rotating shaft 4 and the metacarpophalangeal joint is fixed by a bearing such as I, thereby enabling relative rotation and metacarpophalangeal joints occur at I bent.

[0026] 近指节组件包括与掌指关节I远端相连的近指节6、横向设置在该近指节6远端处的第二旋转轴7,以及沿着手指轴向方向居中设置在第二旋转轴7上的第三滑轮8 ;其中第二旋转轴7与指近指节I譬如由轴承固定,由此可相对发生旋转;远指节组件包括远指节 [0026] near the knuckle assembly includes a metacarpophalangeal joint connected to I near a distal knuckle 6, laterally disposed near the rotation shaft section 6 refers to a second distal end 7, and a centrally disposed along the axial direction of the finger third pulley 8 on the second rotating shaft 7; wherein the second rotating shaft 7 near the finger phalanx example I by a bearing fixed, whereby relative rotation occurs; distal knuckle assembly includes a distal phalanx

10、横向设置在该远指节10近端处的第三旋转轴11、沿着手指轴向方向居中设置在第三旋转轴11上的第四滑轮12,以及套设在远指节10远端处的远指端13 ;中指节9譬如呈圆柱体结构,并在其两端分别与所述近指节6和远指节10可相对弯折地相连。 10, the laterally disposed distal section refers to the third rotation shaft 10 at the proximal end 11, centrally disposed on the third rotation shaft 11 along the axial direction of the finger fourth pulley 12, and a sleeve 10 provided at the distal phalanx away at the distal end of finger 13; middle section 9 such as a cylindrical structure, and at both ends thereof respectively connected to the proximal finger can be bent relative to section 6 and a distal phalanx 10.

[0027] 上述手指掌指关节、手指近指节、手指中指节、手指远指节指间均有转轴固定,保证某个指节相对其他指节能够旋转,此外各关节处滑轮均居中对称布置。 [0027] The metacarpophalangeal joints, proximal interphalangeal finger section, the middle section of the finger, the finger distal interphalangeal means are fixed to the shaft, to ensure that a knuckle rotatably relative to the other knuckle, each of the joints in addition pulleys disposed symmetrically rank .

[0028] 作为本发明的关键改进之一,如图2中所示,在上述五个手指的内部,分别对应设置有手指内传动机构。 [0028] As a key improvement of the present invention is one, as shown in Figure 2, inside the five fingers, the fingers are provided respectively corresponding actuator. 该手指内传动机构各自包括与所述第一滑轮3相连的驱动绳37、依次缠绕在第一滑轮3、第二滑轮5、第三滑轮8和第四滑轮12上的张紧绳26、与所述张紧绳26对称布置并与之共同模拟手指肌腱的放松绳24、设置在第二滑轮5与第三滑轮8之间的近指节耦合弹簧16,以及设置在第三滑轮8与第四滑轮12之间的中指节耦合弹簧;以此方式,为各个手指构成了第一传动组。 Within each of the finger means includes a drive gear connected to the first rope pulley 337 are sequentially wound on the first pulley 3, the second pulley 5, the third and fourth pulleys 8 on the rope tensioning pulley 1226, and the tensioning cord 26 are arranged symmetrically and with a common discharge Songsheng simulated finger tendon 24, disposed in the third of the second pulley 8 and the pulley and the third pulley 5 coupled to the knuckle near the spring 16, disposed between 8 and four middle sections between the pulley 12 coupled to the spring; in this manner, constitutes a first transmission unit for each finger.

[0029] 更具体地,第一传动组包含第一固定钢珠14、第一耦合弹簧拉紧绳15、第一耦合弹簧16、第二耦合弹簧拉紧绳17、第二固定钢珠18、第三固定钢珠19、第三耦合弹簧拉紧绳20、第二耦合弹簧21、第四耦合弹簧拉紧绳22、第四固定钢珠23 ;其中第一耦合弹簧拉紧绳15近端譬如由第一固定钢珠14固定在掌指关节I上,然后绕过掌指关节I上的圆弧,另一端与第一耦合弹簧16近端相连,第一耦合弹簧16远端与第二耦合弹簧拉紧绳17相连,第二耦合弹簧拉紧绳17绕过手指近指节6上的圆弧后譬如由第二固定钢珠18固定在手指中指节9上;与此类似地,第三耦合弹簧拉紧绳20近端譬如由第三固定钢珠19固定在手指近指节6上,绕过手指近指节6上的圆弧后与第二耦合弹簧21近端相连,第二耦合弹簧21远端与第四耦合弹簧拉紧绳22近端相连,第四耦合弹簧拉紧绳22在绕过手指远指节 [0029] More specifically, a first set comprising a first gear fixed ball 14, the first coupling spring tension cord 15, a first spring coupling 16, coupling the second rope tension spring 17, the second ball 18 is fixed, the third fixed ball 19, the third coupling spring tensioning strings 20, coupled to the second spring 21, the spring tensioning cord fourth coupling 22, a fourth fixed steel ball 23; wherein a first tensioning spring coupled to the proximal end of the rope 15 fixed by the first instance ball 14 is fixed on the metacarpophalangeal joints I, then around the metacarpophalangeal joints arc I, and the other end connected to a proximal end 16 coupled to a first spring, a first spring coupling 16 and a distal end coupled to the second rope tension spring 17 connected to the second rope tension spring 17 coupled to bypass near the finger means on the arcuate section 6 such as a steel ball 18 is fixed in the second fixing section 9 of the middle finger; Analogously, the third coupling spring tensioned rope 20 for example, by a proximal end fixed ball 19 is fixed to the third finger on the finger section 6 near bypass means connected to the finger near the proximal end of the second coupling 21 on the arcuate spring section 6 after the second coupling the distal end of the fourth spring 21 coupling the proximal end of the spring tensioning cord 22 is connected to the fourth coupling spring tensioning cord 22 passed around the finger distal phalanx 10上的圆弧后,譬如由第四固定钢珠23固定在手指远指节10上。 After the arc 10, such as a steel ball 23 is fixed by a fourth fixing means on the distal section of the finger 10.

[0030] 此外,为防止手指在复位时过度伸展,在每个指节处设置了机械限位结构,其中掌指关节、近指节、中指节、远指节的接触部位在手背一面全为凸台,而在手心一面为圆弧,保证了各个指节能向手心弯曲90°,而不能反向弯曲。 [0030] Further, in order to prevent over-stretching during reset finger, mechanical limiting structure is provided at each of the finger section, wherein the metacarpophalangeal joints, proximal interphalangeal section, the middle section, the distal section refers to a contact portion on a back side of the whole boss, while in the palm side of a circular arc, to ensure that the energy of each finger is bent 90 ° to the palm of the hand, but not reverse bending.

[0031] 如图3中所示,显示了放松绳及其传动系统的结构剖视图,其构成了各个手指内部的第二传动组。 [0031] As shown in FIG. 3, a cross-sectional view put slack rope drive system and structure, which constitute the second set of internal transmission of individual fingers. 具体而言,第二传动组包含放松绳24、第五固定钢珠25,其中放松绳24近端由螺钉固定在第一滑轮3内,在绕过第一滑轮3三个槽中的一个后依次缠绕在第二滑轮5、第三滑轮8、第四滑轮12上,最后譬如由第五固定钢珠25固定在手指远指节10上。 Specifically, the second transmission group 24 comprises a slack rope release, fifth fixed steel ball 25, which put the slack rope 24 is fixed by screws in the proximal end of the first pulley 3, in the pulley around a first three slots 3 sequentially wound on the second pulley 5, 8 third pulley, a fourth pulley 12, the last such fixed steel balls 25 secured by a fifth finger distal phalanx 10.

[0032] 如图4中所示,显示了张紧绳及其传动系统的结构剖视图,其构成了各个手指内部的第三传动组。 [0032] As shown in FIG. 4, a cross sectional view of the tensioning cord drive system and structure, which constitutes the third gear set inside each finger. 具体而言,该第三传动组包含张紧绳26、第六固定钢珠27,其中张紧绳26由螺钉固定在第一滑轮3内,在绕过第一滑轮3三个槽中居中一个槽后依次缠绕在第二滑轮5、第三滑轮8、第四滑轮12上最后譬如由第六固定钢珠27固定在手指远指节10上,其中第二滑轮5、第三滑轮8、第四滑轮12分别有两个线槽分别为放松绳24、张紧绳26所用。 Specifically, the third gear set comprising a tensioning string 26, a sixth fixed steel ball 27, wherein the tensioning cord 26 is fixed by a screw 3 in the first pulley, a middle pulley groove bypassing the first three slots 3 after successively wound around the second pulley 5, 8 third pulley, a fourth pulley 12 fixed to the last example, a steel ball 27 is fixed to the sixth finger distal section refers to 10, wherein the second pulley 5, 8 third pulley, a fourth pulley there are two ducts 12 are put Songsheng 24, tensioning string 26 used.

[0033] 按照本发明的优选实施方式,各个手指的内部优选设置有两套所述手指内传动机构,这两套手指内传动机构分别对应安装在手指的两侧,由此共同完成手指的自适应功能。 [0033] According to a preferred embodiment of the present invention, is preferably provided inside the inner finger of each finger of the gear sets, which sets respectively correspond to the actuator finger mounted on both sides of the finger, whereby the finger together to complete from fit and function. 该另外一套手指内传动机构的结构及其设置方式与图2相同,并构成了各个手指内部的第四传动组。 Further the same structure and the arrangement of FIG 2 of a finger drive mechanism, and the respective fingers constituting the interior of the fourth gear set.

[0034] 具体而成,如图5中所示,第四传动组包含第七固定钢珠(图中未能标出)、第五耦合弹簧拉紧绳28、第三耦合弹簧29、第六耦合弹簧拉紧绳30、第八固定钢珠31、第九固定钢珠32、第七耦合弹簧拉紧绳33、第四耦合弹簧34、第八耦合弹簧拉紧绳35、第十固定钢珠36,其中第四传动组的布置与第一传动组相同,与第一传动组分别安装在手指两侧,共同完成手指的自适应功能。 [0034] Specifically made, as shown in FIG. 5, the fourth gear set comprising a seventh locating ball (failure shown in the figure), the fifth coupling rope tensioning spring 28, the spring 29 coupling the third, sixth coupling rope tensioning spring 30, ball 31 fixed to the eighth, ninth fixed ball 32, the seventh coupling rope tensioning spring 33, the spring 34 coupling the fourth, eighth coupling rope tensioning spring 35, the tenth fixed steel ball 36, wherein the first arranged four first gear set with the same drive group, the first transmission unit are mounted on both sides of the fingers, the fingers function together to complete the adaptation.

[0035] 此外,如图6中所示,手指内的驱动绳37,一端从驱动源出发,另一端固定在第一滑轮2的线槽中用以提供手指动力。 [0035] Further, as shown in FIG. 6, the drive sheave 37 within the finger, starting from one end of the driving source, and the other end is fixed in the groove to provide a finger force in the first pulley 2.

[0036] 下面将具体解释按照本发明的欠驱动手指执行弯曲动作时的过程。 [0036] The process will be specifically explained during bending operation performed in the present invention is driven under the finger.

[0037] 参见图7,各个手指动作的具体过程如下:驱动绳37驱动第一滑轮3旋转,使张紧绳26张紧和防松绳24伸展,使得近指节、中指节和远指节分别绕第一旋转轴4、第二旋转轴7与第三旋转轴11旋转并压缩弹簧,完成抓取动作,当手指碰触物体后,手指内的耦合弹簧开始拉伸吸收多余行程完成手指的自适应功能;另外手指伸直时,由于缺少驱动力使得被压缩的弹簧开始复位带动近指节、中指节和远指节反向旋转,完成复位动作。 [0037] Referring to Figure 7, the operation of the respective fingers specific process is as follows: drive sheave 37 drives a first pulley 3 rotated and the tensioning and anti-tensioning string 26 extends Songsheng 24, so that the knuckles near, middle section and a distal phalanx 4 respectively about the first rotation, the second axis of rotation and the third axis of the rotary shaft 7 and a compression spring 11, to complete the gripping operation, when the finger touches the object, the coupling within the spring fingers elongation begins to absorb excess stroke is completed the finger adaptive function; finger straight Further, the lack of a driving force such that the compressed spring to drive the reset start near the knuckle, middle section and a distal phalanx reverse rotation, the reset operation is completed. 绳索譬如可选用CarlStahl的钢丝绳,末端用配套的固定零件进行固定。 Optional tether rope CarlStahl of example, with a fixed end fixed supporting part.

[0038] 综上所述,通过滑轮来驱动手指进行弯曲和伸展,这样可以通过一个输入完成多个自由度的运动,再加上两组耦合弹簧的对称布置,以此完成欠驱动手指的自适应功能。 [0038] In summary, by a pulley driven finger flexion and extension, so that a plurality of degrees of freedom of motion can be accomplished via an input, together with the two symmetrically arranged coupling spring, thereby completing the driving under the finger from fit and function. 因此本发明所提供的欠驱动假肢手手指,能在体积重量上与人手接近,并且形状相似,仿人程度高同时能实现手指对物体的抓取,便于控制,因而尤其适用于医疗机械领域。 Accordingly the present invention provides less drive prosthetic hand finger, hand can close on the volume weight, and a similar shape, a high degree of humanoid fingers while gripping the object can be achieved, and easy to control, and thus particularly suitable for medical equipment field.

[0039] 本领域的技术人员容易理解,以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。 [0039] Those skilled in the art will readily appreciate, the above-described preferred embodiment of the present invention only but are not intended to limit the present invention, any modifications within the spirit and principle of the present invention, equivalent substitutions, and improvements, etc., should be included within the scope of the present invention.

Claims (4)

1.一种关节间柔性耦合的欠驱动手指,这些手指为具备相同结构的拇指、食指、中指、无名指和小指,将靠近手掌的方向定义为近端,而远离手掌的方向定义为远端,则各个手指由近及远分别包括掌指关节组件、近指节组件、远指节组件和中指节,其特征在于: 所述掌指关节组件包括掌指关节、横向设置在该掌指关节近端处的掌指关节连接轴、沿着手指轴向方向居中设置在该掌指关节连接轴上的第一滑轮、横向设置在该掌指关节远端处的第一旋转轴,以及沿着手指轴向方向居中设置在所述第一旋转轴上的第二滑轮;所述近指节组件包括与所述掌指关节远端相连的近指节、横向设置在该近指节远端处的第二旋转轴,以及沿着手指轴向方向居中设置在所述第二旋转轴上的第三滑轮;所述远指节组件包括远指节、横向设置在该远指节近端处的第三旋转轴、 A joint between a flexible coupling Underactuated finger, the fingers have the same configuration as the thumb, index finger, middle finger, ring finger and little finger, the direction toward the proximal end is defined as the palm, and palm defined as a direction away from the distal end, the respective near and far from the finger metacarpophalangeal joint assembly comprising, respectively, proximal interphalangeal joint assembly, assembly distal phalanx and the middle section, characterized in that: said assembly comprises a metacarpophalangeal joints metacarpophalangeal joint, means disposed laterally near the palm joint palm end knuckles connecting shaft disposed centrally in the axial direction of the finger metacarpophalangeal joint pulley connected to a first shaft, disposed transversely to the first rotational shaft metacarpophalangeal joints at the distal end, and a finger along disposed centrally in the axial direction of the first and second pulley rotational axis; the proximal phalanx of the assembly comprising the metacarpophalangeal joints connected near the distal end of the knuckle, which is provided laterally at the distal end near the knuckle a second rotary shaft, and a centrally disposed along the axial direction of the finger in the second third pulley rotary shaft; a first knuckle assembly includes a distal phalanx, laterally disposed distal phalanx of the proximal end of the distal finger three rotary shaft, 沿着手指轴向方向居中设置在所述第三旋转轴上的第四滑轮,以及套设在远指节远端处的远指端;所述中指节呈一体的圆柱体结构,并在其两端分别与所述近指节和远指节可相对弯折地相连; 此外,在上述五个手指的内部,分别对应设置有手指内传动机构,该手指内传动机构各自包括与所述第一滑轮相连的驱动绳、依次缠绕在所述第一滑轮、第二滑轮、第三滑轮和第四滑轮上的张紧绳、与所述张紧绳对称布置并与之共同模拟手指肌腱的放松绳、设置在所述第二滑轮与第三滑轮之间的近指节耦合弹簧,以及设置在所述第三滑轮与第四滑轮之间的中指节耦合弹簧,其中,该近指节耦合弹簧的一端采用第一近指节弹簧张紧绳相连,且该第一近指节弹簧张紧绳的另外一端固定于所述掌指关节,该近指节耦合弹簧的另外一端采用第二近指节弹簧张紧绳相连, A fourth pulley disposed centrally of the third rotation shaft, and a sleeve means provided at the distal section of the distal end of the distal finger along the axial direction of the finger; middle section of the cylindrical structure integrally and in which near both ends of the finger phalanx and distal sections may be connected to be relatively bent; moreover, inside the five fingers, each finger corresponding to the inner drive mechanism provided within each of the finger drive mechanism comprises a first a driven pulley connected to the rope, is wound successively in the first pulley, a second pulley on the tensioning string, the third pulley and a fourth pulley, said tensioning string symmetrically arranged and cooperating therewith to relax simulated finger tendon rope, is disposed between the second pulley and the third pulley near knuckles coupling spring, and a spring disposed in the middle section coupled between the third pulley and the fourth pulley, wherein the coupling spring near knuckles near one end with a first spring means coupled to the tensioning string section, and the first knuckle near the other end of the rope tensioning spring is fixed to the metacarpophalangeal joints, knuckles near the other end of the spring is coupled with a second proximal interphalangeal a spring section connected to the tensioning string, 且该第二近指节弹簧张紧绳的另外一端固定于所述中指节;此外,该中指节耦合弹簧的一端采用第一中指节弹簧张紧绳相连,且该第一中指节弹簧张紧绳的另外一端固定于所述近指节,该中指节耦合弹簧的另外一端采用第二中指节弹簧张紧绳相连,且该第二中指节弹簧张紧绳的另外一端固定于所述远指节。 And the second knuckle near the other end of the rope tensioning spring is fixed to the middle section; Further, one end coupled to the middle section of the middle section with a first spring spring-tensioning rope is connected to the middle section and the first tension spring the other end of the rope is fixed to the proximal phalanx, the middle section of the spring is coupled to the other end using a second string tensioning spring connected to the middle section, the middle section and the second tensioning spring the other end of the rope is fixed to the distal finger section.
2.如权利要求1所述的关节间柔性耦合的欠驱动手指,其特征在于,各个手指的指节处还设置有机械限位机构,其中掌指关节、近指节、中指节和远指节位于手背一面的呈凸台结构,而位于手心一面的呈弧面结构,由此确保各个指节可向手心弯曲90度。 2. Underactuated flexible coupling between a finger joint according to claim 1, characterized in that the knuckle at the respective fingers is also provided a mechanical stop mechanism, wherein the metacarpophalangeal joints, proximal interphalangeal section, middle section and a distal means section was located in the back side of the boss structure, located in the palm side of the arc-structure, thereby ensuring that each finger section can be bent 90 degrees to the palm of the hand.
3.如权利要求1或2所述的关节间柔性耦合的欠驱动手指,其特征在于各个手指的内部设置有两套所述手指内传动机构,这两套手指内传动机构分别对应安装在手指的两侧,由此共同完成手指的自适应功能。 3. Underactuated flexible finger coupling between the joint 1 or 2, characterized in that each finger is provided inside the inner of the two sets of finger drive mechanism as claimed in claim, the two sets of finger drive mechanism mounted in the corresponding finger on both sides, whereby the fingers together to complete the adaptive function.
4.如权利要求1或2所述的关节间柔性耦合的欠驱动手指,其特征在于,所述手指内传动机构共同包含有四个传动组,其中各自由近指节耦合弹簧和中指节耦合弹簧所构成的第一传动组和第四传动组共同用于手指的自适应能力,而分别由放松绳和张紧绳构成的第二传动组和第三传动组分别用于手指的弯曲和伸直。 4. Underactuated flexible coupling between the finger joint or claim 2, wherein said finger drive mechanism comprises four drive common set of claims, wherein the knuckles are each coupled near the middle spring sections and coupling the first and fourth transmission gear consisting of a common set of springs for the adaptive capacity of the fingers, respectively the second and the third gear set and the transmission unit discharge Slack tensioning string are configured for bending the fingers and extending straight.
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