CN104565215A - Novel artificial hand flexible transmission control mechanism - Google Patents

Novel artificial hand flexible transmission control mechanism Download PDF

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Publication number
CN104565215A
CN104565215A CN201510002718.9A CN201510002718A CN104565215A CN 104565215 A CN104565215 A CN 104565215A CN 201510002718 A CN201510002718 A CN 201510002718A CN 104565215 A CN104565215 A CN 104565215A
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CN
China
Prior art keywords
gear
sleeve
switch
roller
artificial hand
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CN201510002718.9A
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Chinese (zh)
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CN104565215B (en
Inventor
邵忍平
李晶
邵博丽
汪亚运
齐先坤
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Publication of CN104565215A publication Critical patent/CN104565215A/en
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Publication of CN104565215B publication Critical patent/CN104565215B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a novel artificial hand flexible transmission control mechanism which comprises a planetary gear mechanism, a switching mechanism, an artificial hand and a hand clamp. A planetary gear of the planetary gear mechanism is a duplicate planetary gear, a sun gear is directly matched with an input shaft to serve as an input end, an inner gear is fixed onto a shell of the artificial hand, and a planetary frame serving as an output end is fixedly connected with a sleeve. An outer ring of the switching mechanism is directly fixedly connected with the sleeve through a screw to serve as an input end, a roller is matched with an output shaft to serve as an output end, a shifting fork is connected onto the switching mechanism through a guide post, a guide column slides along a sliding groove under the combined action of an arc push rod and a spring, the artificial hand is driven to flexibly open and close, and reliable, flexible and continuous switching is realized. The artificial hand flexible transmission control mechanism is driven by the duplicate planetary gear, the size is maximally reduced on the premise of meeting the requirement of transmission ratio, meshing overlap ratio is increased, efficiency is improved, and noise is reduced.

Description

A kind of novel artificial hand Flexible Transmission operating mechanism
Technical field
The present invention relates to a kind of transmission mechanism of artificial hand, specifically, relate to a kind of novel artificial hand Flexible Transmission operating mechanism.
Background technology
At present, Chinese scholars is a lot of to the research of myoelectrically controlled hand aspect, and achieve certain achievement, its Typical Representative is German OttoBack company, SUVA EMG-controlling prosthetic hand of its development is that single-degree-of-freedom three finger is done evil through another person sll, its control system comprises two-way EMG signal processing, excitation system and position control system, the people such as Japan Kobe university KnezoAkazwaa have developed a kind of novel myoelectricity control biomimetics Kobe hand, the dynamic characteristic of the neuromuscular control system of staff can be imitated, make myoelectric hand by the position control system of finger motion, force feedback and variable gain respond the instruction (A.Cranny that neuromuscular control system sends, D.P.J.Cotton, P.H.Chappell, S.P.Beeby, N.M.White. thick film power slide sensor is done evil through another person .Sensors and Actuators.A 123 – 124 (2005) 162 – 171:R.G.E.Clement, K.E.Bugler, C.W.Oliver. bionically to do evil through another person: review and following prospect .The surgeon 9 (2011) 336-340 to prior art).Domestic research, the real-time control as Harbin Institute of Technology is done evil through another person (" the Three Degree Of Freedom EMG-controlling prosthetic hand real-time control method based on DSP ", aviation journal, 2007,28 (5): 1257-1261); The automatic-switching-over step-up mechanism of the adaptive ability of Tsing-Hua University.This mechanism adopts clutch to realize the function of switch speed, but there are two significantly deficiencies in it, first the spring of clutch is bad determines, the larger shift fork of elastic force is not easy to stir roller, otherwise enough thrusts can not be ensured, thus cause slow movement even baulk; Secondly there is rigid shock in the contact process of roller and outer ring, creates vibration & noise, do not reach desirable effect to user.
Summary of the invention
In order to avoid the deficiency that prior art exists, overcome that its reliable transmission of doing evil through another person is poor, the reaction time is longer, lumbering problem, the present invention proposes a kind of novel artificial hand Flexible Transmission operating mechanism.
The technical solution adopted for the present invention to solve the technical problems is: comprise planetary wheeling mechanism, switching mechanism, artificial hand, partial gear, worm gear, worm screw, hand presss from both sides, and is characterized in: described planetary wheeling mechanism comprises compound planet gear, close steps planetary gears, first output shaft, power shaft, second sun gear, planetary gear, first sun gear, first internal gear, planet carrier, motor, first duplicate gear, second duplicate gear, high speed sleeve, low speed sleeve, motor is connected by shaft coupling with the first output shaft, first output shaft coordinates with the second sun gear of close steps planetary gears, drive planetary gear rotates, first sun gear and power shaft are connected, first internal gear is fixed on artificial hand housing, power shaft and high speed sleeve are connected, planet carrier and low speed sleeve are connected, and be connected with power shaft, first sun gear drives planet carrier to rotate, and the second duplicate gear of compound planet gear engages with the first sun gear, and the first duplicate gear of compound planet gear engages with the first internal gear, close steps planetary gears and the clamping company of hand,
Described switching mechanism comprises switch A, switch B, pin A, pin B, brake pad, spring, outer sleeve, roller, arc push rod, lead, torsion spring, the recessed teeth groove of sleeve, shift fork, the second output shaft, switch A is identical with switch B structure, outer sleeve and the high speed sleeve of switch A are connected, outer sleeve and the low speed sleeve of switch B are connected, and the second output shaft and roller are connected by shaft hole matching; Brake pad is made up of multiple secter pat, brake pad is connected in the slide slot of roller, spring fitting is on roller in locating hole, the spring other end is connected on brake pad, lead is fixed on roller, shift fork is connected with roller by pin B, and shift fork two ends have U-type groove to coordinate with lead, and lead is sliding in U-type groove; One end and output shaft fixed connection, the other end is connected with pin B, arc push rod one end is connected with the pin A on roller, and connecting into revolute pair with the pin of brake pad bottom, the roller of the arc push rod other end contacts with the arch working face of shift fork, and under the effect of spring and arc push rod, brake pad slides up and down along slide slot, the convex tooth of brake pad and the recessed tooth socket fit of sleeve of outer sleeve, switch A engages, and the convex tooth of brake pad is separated with the recessed teeth groove of the sleeve of outer sleeve, and switch B throws off; Switching mechanism is coordinated with worm screw, worm gear and partial gear by the second output shaft, drives artificial hand folding.
Described brake pad adopts elastomeric material, and coefficient of friction is 0.7 ~ 0.9.
Beneficial effect
The novel artificial hand Flexible Transmission operating mechanism that the present invention proposes, adopts double-planetary gear transmission, and reduced volume to greatest extent under the prerequisite meeting gearratio requirement, reduces to take up room; Increase engagement registration simultaneously, improve efficiency, decrease noise.Adopt the switching mechanism be made up of switch A and switch B, first, the brake pad top of switch adopts seven secter pats of dispersion to ensure owing to manufacturing, and installs and still can coordinate completely with sleeve after wearing and tearing in use procedure, achieving higher reliability; Secondly the toothed projections on secter pat top adopts special elastomeric material while increasing the coefficient of friction with the recessed teeth groove of sleeve, coefficient of friction is 0.7 ~ 0.9, also because himself plasticity makes its profile of tooth groove of fitting completely increase friction lifting surface area, improve friction efficiency; Finally use elastomeric material, alleviate the weight of component, vibration and impact when reducing contact, reduce noise; Thus achieve the function of good Flexible Transmission.The arc push rod adopted well has merged lever principle, adopts less power just can promote brake pad, and itself and sleeve is combined closely have good action effect, improve reaction sensitivity and reaction efficiency; Secondly arc tips contacts with the working face of shift fork by using trundle, replaces sliding, reduce the frictional force of contact surface, improve efficiency with rolling.Make transmission mechanism continuously, reliable, quick, efficiency is high.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, a kind of novel artificial hand of the present invention Flexible Transmission operating mechanism is described in further detail.
Fig. 1 is artificial hand Flexible Transmission operating mechanism schematic diagram of the present invention.
Fig. 2 is the switch A profile of artificial hand Flexible Transmission operating mechanism of the present invention.
Fig. 3 is the switch B profile of artificial hand Flexible Transmission operating mechanism of the present invention.
Fig. 4 is the switch schematic diagram of artificial hand Flexible Transmission operating mechanism of the present invention.
Fig. 5 is that brake pad convex tooth of the present invention is separated schematic diagram with outer sleeve indent teeth groove.
Fig. 6 is that brake pad convex tooth of the present invention engages schematic diagram with outer sleeve indent teeth groove.
Fig. 7 is that the switch A of artificial hand Flexible Transmission operating mechanism of the present invention engages schematic diagram.
Fig. 8 is that the switch B of artificial hand Flexible Transmission operating mechanism of the present invention throws off schematic diagram.
Fig. 9 is that the switch A of artificial hand Flexible Transmission operating mechanism of the present invention throws off schematic diagram.
Figure 10 is that the switch B of artificial hand Flexible Transmission operating mechanism of the present invention engages schematic diagram.
Figure 11 is the transmission schematic diagram of artificial hand Flexible Transmission operating mechanism of the present invention.
In figure:
1. artificial hand 2. partial gear 3. worm gear 4. worm screw 5. screw 6. shift fork 7. high speed sleeve 8. low speed sleeve 9. first internal gear 10. first duplicate gear 11. second duplicate gear 12. planet carrier 13. first sun gear 14. hand presss from both sides 15. motor 16. bolt 17. spacing ring 18. secondary annulus 19. planetary gear 20. key A 21. second sun gear 22. screw 23. key 24. sleeve recessed teeth groove 25. brake pad 26. pin A 27. pin B 28. torsion spring 29. spring 30. slide slot 31. axis hole 32.U type groove 33. lead 34. arc push rod 35. outer sleeve 36. roller 37. first output shaft 38. power shaft 39. close steps planetary gears 40. compound planet gear 41. switch A 42. switch B43. second output shaft
Detailed description of the invention
The present embodiment is a kind of novel artificial hand Flexible Transmission operating mechanism.
Consult Fig. 1 ~ Figure 11, artificial hand Flexible Transmission operating mechanism is pressed from both sides formed by planetary wheeling mechanism, switching mechanism, artificial hand, hand.The myoelectricity control signal produced by brain passes to the control circuit of motor, and control circuit exports control signal to after motor, and motor is started working, and by output shaft, rotating speed is outputted to planetary wheeling mechanism.Planetary wheeling mechanism comprises compound planet gear 40, close steps planetary gears 39, first output shaft 37, power shaft 38, second sun gear 21, planetary gear 19, first sun gear 13, first internal gear 9, planet carrier 12, motor 15, first duplicate gear 10, second duplicate gear 11, high speed sleeve 7, low speed sleeve 8; Motor 15 is connected by shaft coupling with the first output shaft 37, and the first output shaft 37 coordinates with the second sun gear 21 of close steps planetary gears 39, drives planetary gear 19 to rotate; First sun gear 13 is connected with power shaft 38, first internal gear 9 is fixed on artificial hand housing, power shaft 38 is fixedly connected with high speed sleeve 7, drives high speed sleeve 7 to rotate output speed I, drives the first sun gear 13 of planetary wheeling mechanism to rotate together as input.Second duplicate gear 11 of compound planet gear 40 engages with the first sun gear 13, and the first duplicate gear 10 of compound planet gear 40 engages with the first internal gear 9; Planet carrier 12 is connected as output and low speed sleeve 8.The high rotating speed that first sun gear 13 inputs drives planet carrier 12 to rotate after slowing down, and because planet carrier 12 is fixedly connected with by key 23 with low speed sleeve 8, and then drives low speed sleeve 8 to rotate, output speed II.The rotating speed that motor 15 exports is split up into two parts: output speed I and output speed II, drives high speed sleeve 7 and low speed sleeve 8 to rotate respectively, makes it under different rotating speeds, do gyration respectively.Key A20 in close steps planetary gears 39 plays gearing, and spacing ring 17 is for location, and close steps planetary gears 39 and hand are pressed from both sides 14 and be fixedly connected with by bolt 16.
Switching mechanism is made up of switch A41, switch B42, pin A26, pin B27, brake pad 25, spring 29, outer sleeve 35, roller 36, arc push rod 34, lead 33, torsion spring 28, the recessed teeth groove 24 of sleeve, shift fork 6, second output shaft 43; Switch A is identical with switch B structure, and high speed sleeve 7, low speed sleeve 8 are fixed together as input by screw with the outer sleeve 35 of switch A41, switch B42 respectively.Second output shaft 43 and roller 36 are coordinated by axis hole 31 and are connected.Brake pad 25 is made up of multiple secter pat, brake pad 25 is connected in the slide slot of roller 36, spring fitting is on roller 36 in locating hole, the spring other end is connected on brake pad, lead 33 is fixed on roller 36, shift fork 6 is connected with roller 36 by pin B27, and shift fork two ends have U-type groove to coordinate with lead 33, and lead 33 is sliding in U-type groove; Torsion spring 28 one end and output shaft 43 are connected, the other end is connected with pin B27, arc push rod 34 one end is connected with the pin A26 on roller 36, and connects into revolute pair with the pin of brake pad 25 bottom, and the roller of arc push rod 34 other end contacts with the arch working face of shift fork 6; Under spring 29 with the effect of arc push rod 34, brake pad 25 slides up and down along slide slot 30; Brake pad adopts elastomeric material, and coefficient of friction is 0.7 ~ 0.9.
During beginning, the shift fork 6 of switch A41 is in the limit on the left position of U-type groove 32, now, the roller of arc push rod 34 and the low end contact of shift fork 6 working face, under the action of a spring 29, the convex tooth of brake pad 25 coordinates with the recessed teeth groove 24 of the sleeve of outer sleeve 35, and switch A41 engages; The shift fork 6 of switch B42 is in the limit on the right-right-hand limit position of U-type groove 32, now, the roller of arc push rod 34 and the high end contact of shift fork 6 working face, the convex tooth of brake pad 25 is separated with the recessed teeth groove 24 of the sleeve of outer sleeve 35, and switch B 42 throws off; Slide slot 30 on roller 36 makes brake pad 25 slide up and down, and makes roller 36 do gyration simultaneously.Second output shaft 43 links together through the roller 36 of the axis hole 31 on roller 36 by the cooperation of key and switch A 41, switch B 42, because switch A41 engages, switch B42 throws off, output speed I is passed to switch A 41 by the outer sleeve 35 of switch A41, output speed II cannot be passed to switch B42 by the outer sleeve of switch B 42, so time output shaft 43 rotating speed be the rotating speed of switch A41, the rotating speed coming from output speed I is higher; Now whole mechanism is in high speed turn state, and it is by worm screw 4, worm gear 3 and partial gear 2, directly drives artificial hand 1 to close up fast.
After artificial hand 1 holds target, continue closing action and be obstructed, cause one end torsion spring 28 be fixed on the second output shaft 43 to twist distortion.Torsion spring 28 one end is fixed on the pin B27 of shift fork 6, stirs shift fork 6 move after it twists distortion by pin B27.Due to the guide effect of lead 33 on roller 36, shift fork 6 starts to move with coordinating on direction of lead 33 in U-type groove 32.After action completes, the shift fork 6 of switch A41 is in the limit on the right-right-hand limit position of U-type groove 32.In this process, arc push rod 34 slightly turns round around pin A26, and directly and the high end contact of shift fork 6 working face, the convex tooth of brake pad 25 is separated with the recessed teeth groove 24 of the sleeve of outer sleeve 35 for the roller end of arc push rod 34.The shift fork 6 of switch B42 is in the limit on the left position of U-type groove 32, now, the roller end of arc push rod 34 directly and the low end contact of shift fork 6 working face, under the action of a spring 29, the convex tooth of brake pad 25 and the recessed teeth groove 24 of the sleeve of outer sleeve 35 fitting together tightly, switch B engages.Because switch A 41 throws off, switch B 42 engages, output speed II is successfully passed to switch B42 by the outer sleeve 35 of switch B42, rotating speed can not be passed to switch A41 by the outer sleeve 35 of switch A41, therefore the rotating speed of the second output shaft 43 is the rotating speed of the roller 36 of switch B42, come from output speed II, rotating speed is lower, but torque is larger.Now, whole mechanism is in low speed turn state, reaches the effect of deceleration force amplifier.Second output shaft 43, by worm screw 4, worm gear 3 and partial gear 2, drives artificial hand 1 slowly to hold with a firm grip target object; After partial gear 2 produces workspace, artificial hand 1 no longer closes up, and keeps the state of existing target object of holding with a firm grip, and then brain produces myoelectricity control signal, controls motor 15 stall, completes the process capturing target object.

Claims (2)

1. a novel artificial hand Flexible Transmission operating mechanism, comprises planetary wheeling mechanism, switching mechanism, artificial hand, partial gear, worm gear, worm screw, hand presss from both sides, and it is characterized in that: described planetary wheeling mechanism comprises compound planet gear, close steps planetary gears, first output shaft, power shaft, second sun gear, planetary gear, first sun gear, first internal gear, planet carrier, motor, first duplicate gear, second duplicate gear, high speed sleeve, low speed sleeve, motor is connected by shaft coupling with the first output shaft, first output shaft coordinates with the second sun gear of close steps planetary gears, drive planetary gear rotates, first sun gear and power shaft are connected, first internal gear is fixed on artificial hand housing, power shaft and high speed sleeve are connected, planet carrier and low speed sleeve are connected, and be connected with power shaft, first sun gear drives planet carrier to rotate, and the second duplicate gear of compound planet gear engages with the first sun gear, and the first duplicate gear of compound planet gear engages with the first internal gear, close steps planetary gears and the clamping company of hand,
Described switching mechanism comprises switch A, switch B, pin A, pin B, brake pad, spring, outer sleeve, roller, arc push rod, lead, torsion spring, the recessed teeth groove of sleeve, shift fork, the second output shaft, switch A is identical with switch B structure, outer sleeve and the high speed sleeve of switch A are connected, outer sleeve and the low speed sleeve of switch B are connected, and the second output shaft and roller are connected by shaft hole matching; Brake pad is made up of multiple secter pat, brake pad is connected in the slide slot of roller, spring fitting is on roller in locating hole, the spring other end is connected on brake pad, lead is fixed on roller, shift fork is connected with roller by pin B, and shift fork two ends have U-type groove to coordinate with lead, and lead is sliding in U-type groove; One end and output shaft fixed connection, the other end is connected with pin B, and arc push rod one end is connected with the pin A on roller, and connects into revolute pair with the pin of brake pad bottom, and the roller of the arc push rod other end contacts with the arch working face of shift fork; Under the effect of spring and arc push rod, brake pad slides up and down along slide slot, the convex tooth of brake pad and the recessed tooth socket fit of sleeve of outer sleeve, and switch A engages, and the convex tooth of brake pad is separated with the recessed teeth groove of the sleeve of outer sleeve, and switch B throws off; Switching mechanism is coordinated with worm screw, worm gear and partial gear by the second output shaft, drives artificial hand folding.
2. novel artificial hand Flexible Transmission operating mechanism according to claim 1, is characterized in that: described brake pad adopts elastomeric material, and coefficient of friction is 0.7 ~ 0.9.
CN201510002718.9A 2015-01-05 2015-01-05 Artificial hand flexible transmission control mechanism Active CN104565215B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105520821A (en) * 2016-01-26 2016-04-27 哈尔滨工业大学 Spring energy storage device with continuous variable stiffness

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US20030220169A1 (en) * 2002-05-24 2003-11-27 Macdonald Dettwiler Space And Advanced Robotics Ltd. Gearbox
CN2680418Y (en) * 2003-11-20 2005-02-23 陈建良 Hand prosthesis with holding power reinforcing effect
CN202568539U (en) * 2012-05-10 2012-12-05 丹阳假肢厂有限公司 Short electrically-controlled forearm prosthesis with two degrees of freedom

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105520821A (en) * 2016-01-26 2016-04-27 哈尔滨工业大学 Spring energy storage device with continuous variable stiffness
CN105520821B (en) * 2016-01-26 2017-11-03 哈尔滨工业大学 A kind of spring energy storage device of continuous variable-stiffness

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