CN106491250A - Thumb is coupled for high the imitating of electric motor built-in that disabled person does evil through another person - Google Patents
Thumb is coupled for high the imitating of electric motor built-in that disabled person does evil through another person Download PDFInfo
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- CN106491250A CN106491250A CN201610981807.7A CN201610981807A CN106491250A CN 106491250 A CN106491250 A CN 106491250A CN 201610981807 A CN201610981807 A CN 201610981807A CN 106491250 A CN106491250 A CN 106491250A
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- finger joint
- mounting seat
- thumb
- remote
- circuit board
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
- Toys (AREA)
Abstract
Thumb is coupled for high the imitating of electric motor built-in that disabled person does evil through another person, it is related to a kind of coupling thumb.Existing do evil through another person in thumb complex structure and to occupy space big, its profile and Hypomotility and action underaction.The present invention includes metacarpophalangeal joints, nearly finger joint, remote finger joint, electric machine assembly, circuit board assemblies and sensor cluster；Metacarpophalangeal joints are provided with nearly finger joint, nearly finger joint is provided with remote finger joint, electric machine assembly is provided with nearly finger joint, circuit board assemblies and sensor cluster are provided with remote finger joint, electric machine assembly makes nearly finger joint make rotational action around metacarpophalangeal joints mounting seat under the control of circuit board assemblies, and sensor cluster is fixedly mounted on the finger belly end of remote finger joint.The present invention simplifies its overall structure by the setting of built-in motor component, takes up room little.Near cooperating between finger joint, remote finger joint, road board component and sensor cluster makes overall structure and function more tend to real staff thumb, and the present invention is in intelligent robot.
Description
Technical field
Present invention relates particularly to a kind of couple thumb for high the imitating of electric motor built-in that disabled person does evil through another person.
Background technology
Hand is most complicated, the most fine instrument that the mankind depend on for existence and work, the mankind can pass through the both hands of oneself with
External environment contact simultaneously obtains information, more preferable operating environment from environment.The important content that does evil through another person as rehabilitation engineering
And part, it is to make disability rehabilitation, return the important means of society.Existing do evil through another person in thumb complex structure and occupation of land
Space is big, and its structure and operation principle are still to remain the design of middle finger joint by being manufactured in robot finger in the same manner,
The structure of real staff thumb is not met so as to which crawl, gripping or other actions for coordinating other fingers to make can not all reach
The standard of true man's thumb also causes thumb with flexibly while electric machine external causes its complicated integral structure and occupies space greatly
Profile and the problem of Hypomotility and action underaction, the problems referred to above cannot overcome, and cannot also meet profile and work(
Staff, the requirement to the adaptivity ability by operation object with height can highly be imitated.
Content of the invention
It is an object of the invention to provide a kind of couple thumb for high the imitating of electric motor built-in that disabled person does evil through another person, existing to solve
The complex structure of the thumb having in doing evil through another person and occupy that space is big, its profile and Hypomotility and action underaction are asked
Topic.
The present invention is adopted the technical scheme that for solving above-mentioned technical problem：
A kind of imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, and it includes metacarpophalangeal joints, nearly finger joint, far refers to
Section, electric machine assembly, circuit board assemblies and sensor cluster；
Nearly finger joint is provided with metacarpophalangeal joints, is provided with remote finger joint, is provided with group of motors in the nearly finger joint in nearly finger joint
Part, is provided with circuit board assemblies and sensor cluster in the remote finger joint, the electric machine assembly is under the control of circuit board assemblies
Nearly finger joint is made to make rotational action around metacarpophalangeal joints mounting seat, sensor cluster is fixedly mounted on the finger belly end of remote finger joint.
Metacarpophalangeal joints include metacarpophalangeal joints mounting seat, metacarpophalangeal joints axle, office's section gyroaxis and revolute joint of doing evil through another person,
The lower end of the metacarpophalangeal joints mounting seat is fixedly mounted on by office's section gyroaxis and is done evil through another person on revolute joint, and the metacarpophalangeal is closed
The upper end for saving mounting seat is connected with nearly finger joint by metacarpophalangeal joints axle.
The nearly finger joint includes coupled links mounting seat, the axle that is located by connecting, the axle that is of coupled connections, metacarpophalangeal joints axle, snail
Wheel, coupled links, nearly finger joint mounting seat, nearly finger joint shell and worm screw, nearly finger joint mounting seat are arranged on outside nearly finger joint
In shell and which is hinged with shell with nearly finger joint, the coupled links mounting seat, the axle that is located by connecting, the axle that is of coupled connections, worm gear,
Coupled links and worm screw are arranged at the inside of nearly finger joint mounting seat, and the lower end of the coupled links mounting seat is by positioning
Connecting shaft is detachably connected in metacarpophalangeal joints mounting seat, and the upper end of the coupled links mounting seat is by the axle that is of coupled connections
It is connected with the lower end of coupled links, the worm gear is sleeved on metacarpophalangeal joints axle and which passes through metacarpophalangeal joints axle and fixes peace
It is mounted in metacarpophalangeal joints mounting seat, the electric machine assembly is arranged on the electricity in nearly finger joint mounting seat, in the electric machine assembly
Machine output shaft is connected with worm screw, and worm and wheel is meshed.
The remote finger joint includes that remote finger joint shell, bonnet, remote finger joint joint shaft and coupling bearing pin, the remote finger joint are used
Shell is hinged with shell by remote finger joint joint shaft and nearly finger joint, and the upper end of the coupled links is by coupling hinge
On remote finger joint shell, the bonnet is detachably connected on remote finger joint shell.
Circuit board assemblies include finger tip circuit board, circuit board sleeve and circuit board fixing screws, the finger tip circuit
Circuit board sleeve is provided with plate, and the circuit board fixing screws sequentially pass through finger tip circuit board and circuit board sleeve can
Dismounting is connected on the inwall of remote finger joint shell.
Sensor cluster includes touch sensor, sensor fixing axle and joint angles sensor, remote finger joint shell
Finger belly end is machined with open front, and described touch sensor is opened before being fixedly mounted on remote finger joint shell by sensor fixing axle
Mouthful at and its induction end in remote finger joint shell outside, joint angles sensor be fixedly mounted on remote finger joint inside the shell and
Which is electrically connected with finger tip circuit board.
Present invention beneficial effect compared with prior art：
First, the present invention simplifies for a kind of structure, and the height for saving middle finger joint imitates coupling thumb, and integrated model of the present invention is integrated
Change, electric motor built-in is effectively integrated in touch sensor, position sensor and torque sensor in single finger, the present invention
Structure and layout designs rationally, finger integrated level is high, and intelligent level is high.
2nd, actual articulation angle design of the present invention according to staff thumb, can realize the maximum joint rotation of thumb
Gyration so that crawl or grip object that Imitating human algorithm can be more stable.
3rd, the cross sectional shape of nearly finger joint shell of the invention designs reliability reasonable in design, and the design of groove is more beneficial for referring to
The layout of the connecting wire of sharp plate and motor and transmission.It is specious that the finger inner shape of matrix designs the thumb that causes to do evil through another person,
The crawl object for being conducive to thumb stable simultaneously.
Description of the drawings
Fig. 1 illustrates the front view structure profile of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the left view structural representation of Fig. 2；
Fig. 4 is the present invention looks up structural representation of Fig. 2；
Fig. 5 is structural representation of the present invention in limiting condition is stretched；
Fig. 6 is structural representation of the present invention in beaming limit state；
Fig. 7 illustrates use state figure of the present invention on palm.
Specific embodiment
Specific embodiment one：Present embodiment, this enforcement are described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7
Mode includes metacarpophalangeal joints, nearly finger joint, remote finger joint, electric machine assembly 21, circuit board assemblies and sensor cluster；
Nearly finger joint is provided with metacarpophalangeal joints, is provided with remote finger joint, is provided with group of motors in the nearly finger joint in nearly finger joint
Part 21, is provided with circuit board assemblies and sensor cluster, control of the electric machine assembly 21 in circuit board assemblies in the remote finger joint
Nearly finger joint is made to make rotational action around metacarpophalangeal joints mounting seat 1 under system, sensor cluster is fixedly mounted on the finger of remote finger joint
Tripe end.
Specific embodiment two：Present embodiment is described in conjunction with Fig. 1 to Fig. 7, metacarpophalangeal joints include slapping in present embodiment
Articulations digitorum manus mounting seat 1, metacarpophalangeal joints axle 9, office's section gyroaxis 11 and revolute joint 12 of doing evil through another person, the metacarpophalangeal joints peace
The lower end of dress seat 1 is fixedly mounted on by office's section gyroaxis 11 and is done evil through another person on revolute joint 12, metacarpophalangeal joints mounting seat 1
Upper end be connected with nearly finger joint by metacarpophalangeal joints axle 9.Other structures are identical with specific embodiment one with annexation.
Specific embodiment three：Present embodiment is described in conjunction with Fig. 1 to Fig. 7, nearly finger joint includes described in present embodiment
Coupled links mounting seat 2, the axle 3 that is located by connecting, the axle 6 that is of coupled connections, metacarpophalangeal joints axle 9, worm gear 10, coupled links 13, near
Finger joint mounting seat 14, nearly finger joint are arranged in nearly finger joint shell 15 with shell 15 and worm screw 19, nearly finger joint mounting seat 14
And which is hinged with nearly finger joint shell 15, the coupled links mounting seat 2, the axle 3 that is located by connecting, be of coupled connections axle 6, worm gear
10th, coupled links 13 and worm screw 19 are arranged at the inside of nearly finger joint mounting seat 14, and the coupled links are with mounting seat 2
End is detachably connected in metacarpophalangeal joints mounting seat 1 by the axle 3 that is located by connecting, upper end of the coupled links with mounting seat 2
By being of coupled connections, axle 6 is connected with the lower end of coupled links 13, and the worm gear 10 is sleeved on metacarpophalangeal joints axle 9 and which is logical
Cross metacarpophalangeal joints axle 9 to be fixedly mounted in metacarpophalangeal joints mounting seat 1, the electric machine assembly 21 is arranged on nearly finger joint and installs
In seat 14, the motor output shaft in the electric machine assembly 21 is connected with worm screw 19, and worm screw 19 is meshed with worm gear 10.
In present embodiment, the lower end of coupled links mounting seat 2 passes sequentially through Positioning screw 4 and several shop bolts 5
It is detachably connected with metacarpophalangeal joints mounting seat 1.
For placing electric machine assembly 21 in nearly finger joint mounting seat 14 in present embodiment, electric machine assembly 21 is motor gear
Box assembly, its are the finished parts that market can be sold.
In present embodiment, nearly finger joint also includes worm screw end cap 16, bearing base 17 and motor end bearing 20, the snail
The upper end of bar 19 is connected through motor end bearing 20 with the output shaft of motor, and the lower end of worm screw 19 is provided with worm screw end cap 16,
Bearing base 17 is fixedly mounted on the bottom of nearly finger joint shell 15 by worm screw end cap 16, is installed with bearing base 17
Bearing with end cover 18.Other structures are identical with specific embodiment two with annexation.
Specific embodiment four：Present embodiment is described in conjunction with Fig. 1 to Fig. 7, remote finger joint includes described in present embodiment
Remote finger joint shell 22, bonnet 23, remote finger joint joint shaft 24 and coupling bearing pin 25, remote finger joint shell 22 is by far referring to
Save joint shaft 24 to be hinged with nearly finger joint shell 15, the upper end of the coupled links 13 is hinged on far by coupling bearing pin 25
With on shell 22, the bonnet 23 is detachably connected on remote finger joint shell 22 finger joint.
After-opening is machined with remote finger joint shell 22 in present embodiment, the bonnet 23 can by rear cover screw 26
Dismounting is connected on remote finger joint shell 22, and the processing of after-opening is for the ease of each structure in the remote finger joint shell 22 of maintenance
Part.Other structures are identical with specific embodiment three with annexation.
Specific embodiment five：Illustrate that present embodiment, the circuit board assemblies of present embodiment include finger tip electricity in conjunction with Fig. 1
Road plate 30, circuit board sleeve 31 and circuit board fixing screws 32, are provided with circuit board set in the finger tip circuit board 30
Cylinder 31, the circuit board fixing screws 32 sequentially pass through finger tip circuit board 30 and circuit board sleeve 31 is detachably connected on far
On inwall of the finger joint with shell 22.Other structures are identical with specific embodiment four with annexation.
Specific embodiment six：Illustrate that present embodiment, the sensor cluster of present embodiment include that tactile is passed in conjunction with Fig. 1
Sensor 28, sensor fixing axle 29 and joint angles sensor 33, the finger belly end of remote finger joint shell 22 are machined with open front, institute
The touch sensor 28 that states is fixedly mounted at the open front of remote finger joint shell 22 by sensor fixing axle 29 and its induction end
The outside of remote finger joint shell 22 is in, joint angles sensor 33 is fixedly mounted in remote finger joint shell 22 and itself and finger tip
Circuit board 30 is electrically connected.
In present embodiment, the upper end of sensor fixing axle 29 is connected to remote finger joint shell 22 by fixing pin 27 and pushes up
On the inwall in portion.
Sensor cluster in this enforcement includes touch sensor 28, position sensor and torque sensor, wherein position
Sensor is joint angles sensor 33.Torque sensor is torque sensor elastomer 7, and torque sensor elastomer 7 fixes
Pretension is carried out in the space formed by worm gear 10 and metacarpophalangeal joints mounting seat 1 and by holding screw 8.The torque sensor
Elastomer 7 is fixed in the space between nearly finger joint and metacarpophalangeal joints mounting seat 1 and carries out pretension by holding screw 8, this
The set location of bright torque sensor elastomer 7 is advantageously in the accurate measurement of thumb joint torque.The sensing of the present invention
The setting of device assembly is effectively integrated in touch sensor 28, position sensor and torque sensor in single finger, and structure is high
Degree is compact and vdiverse in function.
The structure of the present invention can realize that the height to staff thumb is imitated, and electric machine built-in saves the space in palm,
The arrangement of circuit board, nearly finger joint shell 15 is conducive to ensure that nearly finger joint with the connected mode of metacarpophalangeal joints mounting seat 1
With metacarpophalangeal joints with mounting seat 1 without relative rotation, wherein metacarpophalangeal joints mounting seat equivalent to staff in large multangular bone, metacarpophalangeal closes
The special shape of section mounting seat ensure that thumb can realize the envelope crawl configuration of apery at the volley.
In the present invention, touch sensor is integrated in thumb tip with position sensor, and lead is directly connected on finger tip circuit
On plate 30, and finger tip circuit board 30 is installed in the bonnet 23 of remote finger joint, and this kind of mounting means has merged the think of of Integration Design
Think, contribute to the dismounting and maintenance of remote finger joint.Other structures are identical with specific embodiment five with annexation.
Specific embodiment seven：Present embodiment, nearly finger joint described in present embodiment are described in conjunction with Fig. 5, Fig. 6 and Fig. 7
Angle between the central axis of the central axis of length direction and remote finger joint length direction is α.Described remote finger joint refers to closely
Section has the initial relative rotation of α=5 °.This kind of design preferably simulates the natural configuration of staff thumb so that do evil through another person
The profile of thumb relatively reliable with attractive in appearance, while accelerating gathering speed of the thumb in motion process.Other structures and connection
Relation and specific embodiment two, three, four, five or six are identical.
Specific embodiment eight：Present embodiment, nearly finger joint described in present embodiment are described in conjunction with Fig. 5, Fig. 6 and Fig. 7
Angle between the central axis of 2 length direction of the central axis of length direction and coupled links mounting seat is β.Other structures
Identical with specific embodiment seven with annexation.
Specific embodiment nine：Present embodiment, angle α and angle in present embodiment are described in conjunction with Fig. 5, Fig. 6 and Fig. 7
Ratio between β is 7:3.Other structures are identical with specific embodiment eight with annexation.
In the present invention, the section of nearly finger joint shell 15 is the configuration with matrix inside groove, section of the nearly finger joint with shell 15
Shape designs reliability reasonable in design, and the design of groove is more beneficial for connecting wire between finger tip circuit board 30 and electric machine assembly 21
Layout and transmission.The finger inner shape of the matrix of groove is designed and causes contour structures of the present invention smooth and reasonable, while favorably
In the crawl object that thumb is stable.
In the present invention, nearly finger joint also includes flexible wires line ball thimble 34 and line ball pad 35, the line ball thimble 34 and line ball
Pad 35 is engaged setting with nearly finger joint shell 15, with the application of line ball pad 35, line ball thimble 34 ensure that the present invention's is near
Finger joint is fixed with the reliability of the wire in the groove of shell 15.
Operation principle
Coupled links mounting seat 2 is pacified by the axle 3 that is located by connecting, Positioning screw 4 and several shop bolts 5 and metacarpophalangeal joints
Dress seat 1 is connected, and coupled links 13 are hinged with coupled links mounting seat 2 by the axle 6 that is of coupled connections, and worm gear 10 is used by metacarpophalangeal joints
Axle 9 is hinged with metacarpophalangeal joints mounting seat 1.Nearly finger joint mounting seat 14 is cut with scissors with metacarpophalangeal joints mounting seat 1 by metacarpophalangeal joints axle 9
Connect, the worm screw 19 is engaged with nearly finger joint mounting seat 14 with motor end bearing 20 by bearing with end cover 18, electric machine assembly 21
It is engaged with nearly finger joint shell 15, nearly finger joint shell 15 fixes its rotation with nearly finger joint mounting seat 14 and by screw
The free degree, remote finger joint shell 22 are hinged with nearly finger joint shell 15 by remote finger joint joint shaft 24, and remote finger joint shell 22 leads to
Overcoupling bearing pin 25 is hinged with coupled links 13.After power switch is opened, by 30 controlled motor component 21 of finger tip circuit board
In motor rotate, motor drives the rotation of nearly finger joint, remote finger joint to realize and nearly finger joint coupling by coupled links 13 by worm screw 19
Resultant motion, during thumb movement, torque sensor elastomer 7, touch sensor 28 and joint angles sensor 33 are distinguished
Gathering base joint moment information, finger tip contacts force information and collection thumb joint angle information and passing to finger tip circuit board 30 is carried out
Feedback control, so that complete the bending operation of thumb.
Claims (9)
1. a kind of imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：It includes metacarpophalangeal joints, near
Finger joint, remote finger joint, electric machine assembly (21), circuit board assemblies and sensor cluster；
Nearly finger joint is provided with metacarpophalangeal joints, is provided with remote finger joint, is provided with electric machine assembly in the nearly finger joint in nearly finger joint
(21) circuit board assemblies and sensor cluster are provided with the remote finger joint, and electric machine assembly (21) are in circuit board assemblies
Nearly finger joint is made to make rotational action around metacarpophalangeal joints mounting seat (1) under control, sensor cluster is fixedly mounted on remote finger joint
Finger belly end.
2. according to claim 1 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：The palm
Articulations digitorum manus includes metacarpophalangeal joints mounting seat (1), metacarpophalangeal joints axle (9), office's section gyroaxis (11) and revolute joint of doing evil through another person
(12), the lower end of metacarpophalangeal joints mounting seat (1) is fixedly mounted on revolute joint of doing evil through another person by office's section gyroaxis (11)
(12), on, the upper end of metacarpophalangeal joints mounting seat (1) is connected with nearly finger joint by metacarpophalangeal joints axle (9).
3. imitating for the electric motor built-in height that disabled person does evil through another person according to right wants 2 couples thumb, it is characterised in that：Described
Nearly finger joint includes coupled links mounting seat (2), the axle that is located by connecting (3), the axle that is of coupled connections (6), metacarpophalangeal joints axle (9), snail
Wheel (10), coupled links (13), nearly finger joint mounting seat (14), nearly finger joint shell (15) and worm screw (19), nearly finger joint peace
Dress seat (14) is arranged in nearly finger joint shell (15) and which is hinged with nearly finger joint shell (15), the coupled links peace
Dress seat (2), the axle that is located by connecting (3), the axle that is of coupled connections (6), worm gear (10), coupled links (13) and worm screw (19) are arranged at closely
Inside of the finger joint with mounting seat (14), the lower end of coupled links mounting seat (2) are detachably connected by the axle that is located by connecting (3)
It is connected in metacarpophalangeal joints mounting seat (1), the upper end of coupled links mounting seat (2) is by the axle that is of coupled connections (6) and coupling
The lower end for closing connecting rod (13) is connected, and worm gear (10) are sleeved on metacarpophalangeal joints axle (9) above and which passes through metacarpophalangeal joints and uses
Axle (9) is fixedly mounted in metacarpophalangeal joints mounting seat (1), and electric machine assembly (21) are arranged on nearly finger joint mounting seat (14)
Interior, the motor output shaft in electric machine assembly (21) is connected with worm screw (19), and worm screw (19) is meshed with worm gear (10).
4. according to claim 3 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：Institute
Stating remote finger joint includes remote finger joint shell (22), bonnet (23), remote finger joint joint shaft (24) and coupling bearing pin (25), described remote
Finger joint shell (22) is hinged with nearly finger joint shell (15) by remote finger joint joint shaft (24), coupled links (13)
Upper end by couple bearing pin (25) be hinged on remote finger joint shell (22), bonnet (23) are detachably connected on remote finger joint
With on shell (22).
5. according to claim 4 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：Electricity
Road board component includes finger tip circuit board (30), circuit board sleeve (31) and circuit board fixing screws (32), the finger tip electricity
Circuit board sleeve (31) is provided with road plate (30), circuit board fixing screws (32) sequentially pass through finger tip circuit board
(30) it is detachably connected on the inwall of remote finger joint shell (22) with circuit board sleeve (31).
6. according to claim 5 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：Pass
Sensor component includes touch sensor (28), sensor fixing axle (29) and joint angles sensor (33), remote finger joint shell
(22) finger belly end is machined with open front, and described touch sensor (28) is fixedly mounted on far by sensor fixing axle (29)
At the open front of finger joint shell (22) and its induction end is in the remote finger joint outside of shell (22), joint angles sensor (33)
It is fixedly mounted in remote finger joint shell (22) and which is electrically connected with finger tip circuit board (30).
7. imitating for the electric motor built-in height that disabled person does evil through another person according to any one of claim 2 to 6 couples thumb, its
It is characterised by：Angle between the central axis of the central axis and remote finger joint length direction of the nearly finger joint length direction is α.
8. according to claim 7 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：Institute
Angle between the central axis of the central axis and coupled links mounting seat (2) length direction of stating nearly finger joint length direction is
β.
9. according to claim 8 imitating for the electric motor built-in height that disabled person does evil through another person couples thumb, it is characterised in that：Folder
Ratio between angle α and angle β is 7:3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610981807.7A CN106491250B (en) | 2016-11-08 | 2016-11-08 | The imitative coupling thumb of electric motor built-in height done evil through another person for disabled person |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610981807.7A CN106491250B (en) | 2016-11-08 | 2016-11-08 | The imitative coupling thumb of electric motor built-in height done evil through another person for disabled person |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106491250A true CN106491250A (en) | 2017-03-15 |
| CN106491250B CN106491250B (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610981807.7A Active CN106491250B (en) | 2016-11-08 | 2016-11-08 | The imitative coupling thumb of electric motor built-in height done evil through another person for disabled person |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211477A (en) * | 2021-06-10 | 2021-08-06 | 哈尔滨工业大学 | Under-actuated finger with coupled adaptive motion characteristics |
| WO2021244384A1 (en) * | 2020-06-01 | 2021-12-09 | 京东数科海益信息科技有限公司 | Bionic thumb transmission structure, bionic hand, and robot |
| 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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| CN113211477A (en) * | 2021-06-10 | 2021-08-06 | 哈尔滨工业大学 | Under-actuated finger with coupled adaptive motion characteristics |
| CN113211477B (en) * | 2021-06-10 | 2022-05-06 | 哈尔滨工业大学 | Under-actuated finger with coupled adaptive motion characteristics |
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| CN106491250B (en) | 2018-09-07 |
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