CN106903702A - A kind of Prosthetic Hand telecontrol equipment - Google Patents
A kind of Prosthetic Hand telecontrol equipment Download PDFInfo
- Publication number
- CN106903702A CN106903702A CN201710290241.8A CN201710290241A CN106903702A CN 106903702 A CN106903702 A CN 106903702A CN 201710290241 A CN201710290241 A CN 201710290241A CN 106903702 A CN106903702 A CN 106903702A
- Authority
- CN
- China
- Prior art keywords
- push bracket
- steering wheel
- imitative
- push
- eyeball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 80
- 230000004424 eye movement Effects 0.000 description 7
- 210000001508 eye Anatomy 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004418 eye rotation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
The invention discloses Prosthetic Hand telecontrol equipment, belong to robotics.The Prosthetic Hand telecontrol equipment includes at least one imitative eyeball mechanism, the first steering wheel and the second steering wheel：The imitative eyeball mechanism includes that ball fixing frame, spheroid, first are oriented to push bracket and the second guiding push bracket, and the spheroid is fixed on the ball fixing frame in the way of typed ball bearing pair, and the spheroid is provided with push rod；The cooperation that the first guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, first steering wheel drives described first to be oriented to push bracket and is rotated around the horizontal center line axis of the spheroid；The cooperation that the second guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, second steering wheel drives described second to be oriented to vertical center axis thereof of the push bracket around the spheroid.Not only flexibly true to nature using Prosthetic Hand telecontrol equipment of the invention, and simple structure, reliability, parts are few, small volume, low cost.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of Prosthetic Hand telecontrol equipment.
Background technology
With developing rapidly for robot industry, robot all becomes closer to action from profile with the mankind.At present, state
Inside and outside many related schools, scientific research institution, and enterprise are all in research robot motion, expression.Eye rotation is robot
Indispensable key factor in action expression, or the eye expression mechanism of current robot is complicated mechanism, parts are many
Many, size is improper；It is exactly inadequate number of degrees of freedom, it is impossible to rotated freely as human eye；It is exactly eye
Eyeball can not be acted not true to nature enough around its center rotating.
It is simple it is therefore desirable to provide a kind of mechanism, act true to nature, flexible Prosthetic Hand telecontrol equipment.
The content of the invention
In view of this, it is an object of the invention to provide a kind of Prosthetic Hand telecontrol equipment, to solve prior art robot
Eye structure it is complicated, it is impossible to the problem of flexible rotating.
The technical scheme that present invention solution above-mentioned technical problem is used is as follows：
A kind of Prosthetic Hand telecontrol equipment is provided, the Prosthetic Hand telecontrol equipment includes at least one imitative eyeball mechanism, first
Steering wheel and the second steering wheel：
The imitative eyeball mechanism includes that ball fixing frame, spheroid, first are oriented to push bracket and the second guiding push bracket, the ball
Body is fixed on the ball fixing frame in the way of typed ball bearing pair, and the spheroid is provided with push rod；
The cooperation that the first guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, described first
Steering wheel drives described first to be oriented to push bracket and is rotated around the horizontal center line axis of the spheroid；
The cooperation that the second guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, described second
Steering wheel drives described second to be oriented to vertical center axis thereof of the push bracket around the spheroid.
Preferably, the imitative eyeball mechanism of the Prosthetic Hand telecontrol equipment is provided with two：
By push bracket connection, the push bracket and first rudder between first guiding push bracket of described two imitative eyeball mechanisms
The first crank and rocker mechanism is provided between machine, first steering wheel is driven in the push bracket by first crank and rocker mechanism
Lower swing, so as to drive the first of described two imitative eyeball mechanisms to be oriented to push bracket be rotated around the horizontal center line axis of the spheroid；
Connected by connecting rod between second guiding push bracket of described two imitative eyeball mechanisms, second steering wheel and wherein
The second crank and rocker mechanism is provided between second guiding push rod of Ge Fang eyeballs mechanism, second steering wheel is bent by described second
Handle endplay device drives described second to be oriented to vertical center axis thereof of the push bracket around the spheroid, and described second is oriented to push bracket leads to
Crossing the connecting rod drives the second of another imitative eyeball mechanism to be oriented to vertical center axis thereof of the push rod around the spheroid.
Preferably, the two ends of the connecting rod are respectively hinged in the second guiding push bracket of described two imitative eyeball mechanisms.
Preferably, the two ends of the first guiding push bracket are hinged on the left and right two of the ball fixing frame of the imitative eyeball mechanism
Side, is provided with gathering sill along the horizontal center line axis direction of the spheroid thereon；
The two ends of the second guiding push bracket are hinged on the both sides up and down of the ball fixing frame of the imitative eyeball mechanism, thereon
Gathering sill is provided with along the vertical central axial direction of the spheroid；
The push rod of the spheroid is oriented to push bracket located at the described first gathering sill for being oriented to push bracket and described second simultaneously
In gathering sill.
Preferably, the push rod of the spheroid is provided with orthogonal first via and the second via；
Described first is oriented to push bracket passes through first via, the spheroid that its two ends is hinged on the imitative eyeball mechanism to fix
The left and right sides of frame；
Described second is oriented to push bracket passes through second via, the spheroid that its two ends is hinged on the imitative eyeball mechanism to fix
The both sides up and down of frame.
Preferably, the Prosthetic Hand telecontrol equipment is additionally provided with base, the ball fixing frame, the first steering wheel and the second steering wheel
It is each attached on the base.
Preferably, the middle position of the push bracket is provided with the first push rod being vertically fixed in the push bracket, described
One push rod is provided with gathering sill, and first steering wheel is provided with the first drive rod, and first drive rod is in first steering wheel
Driving under vertical direction rotate, end is provided with the lead column vertical with its own, the lead column and first push rod
On gathering sill coordinate, first push rod and first group of drive rods are into the first crank and rocker mechanism.
Preferably, the second guiding push bracket of one of them imitative eyeball mechanism is provided with the second push rod of level fixation,
Second push rod is provided with gathering sill, and second steering wheel is provided with the second drive rod, and second drive rod is described
Rotated in the horizontal direction under the driving of two steering wheels, end is provided with the lead column vertical with its own, the lead column and described
Gathering sill on two push rods coordinates, and second push rod and second group of drive rods are into second crank and rocker mechanism.
Preferably, first steering wheel and second steering wheel are located between described two Prosthetic Hand motions.
The Prosthetic Hand telecontrol equipment of the embodiment of the present invention, is led by the first guiding push bracket, second respectively using two steering wheels
Drive the pushrod movement of the spheroid of imitative eye movement mechanism simultaneously to push bracket, for the spheroid for imitating eye movement mechanism provide it is upper
Under, left and right totally four random rotations of the free degree, and combination rotates, not only flexibly true to nature, and simple structure, reliability, zero
Part is few, small volume, low cost.
Brief description of the drawings
Fig. 1 is the topology view of the Prosthetic Hand telecontrol equipment with Liang Ge Prosthetic Hands mechanism in the embodiment of the present invention；
Fig. 2 is the structural representation of the Prosthetic Hand mechanism in Fig. 1；
Fig. 3 is the structural representation of the Prosthetic Hand mechanism of another Prosthetic Hand telecontrol equipment provided in an embodiment of the present invention；
Fig. 4 is the structural representation of push rod in Fig. 3.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
In order that the technical problems to be solved by the invention, technical scheme and beneficial effect are clearer, clear, below tie
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
It is used to explain the present invention, is not intended to limit the present invention.
A kind of Prosthetic Hand telecontrol equipment is the embodiment of the invention provides, the Prosthetic Hand telecontrol equipment includes at least one imitative eye
Ball machine structure, the first steering wheel and the second steering wheel.
The imitative eyeball mechanism includes that ball fixing frame, spheroid (or eyeball), first are oriented to push bracket and the second guiding push bracket,
The spheroid is fixed on the ball fixing frame in the way of typed ball bearing pair, and the spheroid is provided with push rod；
The cooperation that the first guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, first steering wheel drives
The first guiding push bracket is rotated around the horizontal center line axis of the spheroid；
The cooperation that the second guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, second steering wheel drives
Vertical center axis thereof of the second guiding push bracket around the spheroid.
This Prosthetic Hand telecontrol equipment is oriented to push bracket, the second guiding push bracket band simultaneously by first respectively using two steering wheels
The pushrod movement of the spheroid of Dong Fang eye movements mechanism, for imitate eye movement mechanism spheroid provide up and down, or so totally four
The random rotation of the free degree, and combination is rotated, not only flexibly true to nature, and simple structure, reliability, and parts are few, small volume,
Low cost.
Embodiments of the invention are further described in detail with accompanying drawing below in conjunction with specific embodiments.
Fig. 1 and Fig. 2 is referred to, in a feasible scheme, Prosthetic Hand telecontrol equipment includes that base 30, first imitates eyeball
Mechanism, the second imitative eyeball mechanism, the first steering wheel 90 and the second steering wheel 40.Wherein, the first imitative eyeball mechanism, the second imitative eyeball machine
Structure, the first steering wheel 90 and the second steering wheel 40 are each attached on the base 30.
First imitative eyeball mechanism is oriented to push bracket 13 and second and is oriented to push bracket 14 by eyeball 12, ball fixing frame 11, first
Constitute.
Eyeball 12 is fixed on ball fixing frame 11 in the way of typed ball bearing pair, and its rear portion is provided with push rod 121.First guiding is pushed away
The two ends of frame 13 are hinged on the left and right sides of the ball fixing frame 11, be provided with along the horizontal center line axis direction of eyeball 12 lead thereon
To groove.The two ends of the second guiding push bracket 14 are hinged on the both sides up and down of the ball fixing frame 11, thereon along the perpendicular of the eyeball 12
Straight central axial direction is provided with gathering sill.The push rod 121 of the eyeball 12 simultaneously located at this first be oriented to push bracket 13 gathering sill and
In the gathering sill of the second guiding push bracket 14.
Second imitative eyeball mechanism is oriented to push bracket 23 and second and is oriented to push bracket 24 by eyeball 22, ball fixing frame 21, first
Constitute, as shown in Figure 2.
Eyeball 22 is fixed on ball fixing frame 21 in the way of typed ball bearing pair, and its rear portion is provided with push rod 221.First guiding is pushed away
The two ends of frame 23 are hinged on the left and right sides of the ball fixing frame 21, be provided with along the horizontal center line axis direction of eyeball 22 lead thereon
To groove 231.The two ends of the second guiding push bracket 24 are hinged on the both sides up and down of the ball fixing frame 21, thereon along the eyeball 22
Vertical central axial direction also is provided with gathering sill 241.The push rod 221 of the eyeball 22 is located at leading for the first guiding push bracket 23 simultaneously
In gathering sill 241 to groove 231 and the second guiding push bracket 24.
Lead between second guiding push bracket 23 of the first imitative eyeball mechanism of guiding push bracket 13 and second of the first imitative eyeball mechanism
Cross push bracket 50 to connect, the first crank and rocker mechanism is provided between the push bracket 50 and first steering wheel 90, first steering wheel 90 passes through
First crank and rocker mechanism drives the push bracket 50 to swing up and down, so as to drive the first guiding push bracket 13 of the first imitative eyeball mechanism
And second first guiding push bracket 23 of imitative eyeball mechanism rotated around two horizontal center line axis of eyeball.
Specifically, the middle position of the push bracket 50 is provided with the first push rod 51 being vertically fixed in the push bracket 50, this
One push rod 51 is provided with gathering sill.First steering wheel 90 is provided with the first drive rod 91, and first drive rod 91 is in first rudder
Rotated in vertical direction under the driving of machine 90, the end of the first drive rod 91 is provided with the lead column vertical with its own, the guiding
51 gathering sill coordinates on post and first push rod, and first push rod 51 and first drive rod 91 constitute the first crank rocker machine
Structure.First steering wheel 90 drives the push bracket 50 to swing up and down by first crank and rocker mechanism, so as to drive the first imitative eye
Second guiding push bracket 23 of the first imitative eyeball mechanism of guiding push bracket 13 and second of ball machine structure is around eyeball 12 and the water of eyeball 22
Flat center axis thereof.
Lead between second guiding push bracket 24 of the second imitative eyeball mechanism of guiding push bracket 14 and second of the first imitative eyeball mechanism
Cross connecting rod 60 to connect, the two ends of the connecting rod 60 are respectively hinged at the second imitative eye of guiding push bracket 14 and second of the first imitative eyeball mechanism
In second guiding push bracket 24 of ball machine structure.It is provided between second guiding push rod 14 of the imitative eyeball mechanism of second steering wheel 40 and first
Second crank and rocker mechanism, second steering wheel 40 drives the second guiding push bracket 14 around its ball by second crank and rocker mechanism
The vertical center axis thereof of body 12, the second guiding push bracket 14 drives the second of the second imitative eyeball mechanism to lead by the connecting rod 60
To push rod 24 around its eyeball 22 vertical center axis thereof.
Specifically, the second guiding push bracket 14 of the first imitative eyeball mechanism is provided with the second push rod 141 of level fixation, this
Two push rods 141 are provided with gathering sill, and second steering wheel 40 is provided with the second drive rod 41, and second drive rod 41 is in second rudder
Rotated in the horizontal direction under the driving of machine 40, the end of the second drive rod 41 is provided with the lead column vertical with its own, the guiding
Post coordinates with the gathering sill on second push rod 141, and second push rod 141 and second drive rod 41 constitute second crank and shake
Linkage.So as to drive the second guiding push rod 24 of the second imitative eyeball mechanism around the vertical center axis thereof of its eyeball 22.
In the program, while driving gathering sill in the centre of the first guiding push bracket and the second guiding push bracket, make push rod from guiding
Passed through in groove, so one of push bracket that is oriented to does not influence another to be oriented to push bracket and push away during promoting push rod to swing
Dynamic push rod swings, so as to realize that eyeball is rotated at random in four orientation.
In the present embodiment, the ball fixing frame of the first imitative eyeball mechanism and the second imitative eyeball mechanism is separately fixed at base 30
Two fixed stations on, the first steering wheel 90 and second steering wheel 40 are located between the Liang Gefang eyeballs mechanism.Wherein the second steering wheel
40 be fixed on the first imitative eyeball mechanism where fixed inner side, the first steering wheel be fixed on the second imitative eyeball mechanism where fixation
Platform inner side.Because steering wheel 90 need to drive the first crank and rocker mechanism to swing up and down, so the first crank of correspondence shakes on base 30
Linkage, is provided with a groove, to be carried for the first crank and rocker mechanism between the fixed station of fixed Liang Gefang eyeballs mechanism
For space.
In a feasible scheme, the imitative eyeball mechanism of the embodiment of the present invention can also be realized using following structure,
Please referring collectively to Fig. 3 and Fig. 4.
The imitative eyeball mechanism is oriented to push bracket 33 and second and is oriented to the structure of push bracket 34 by eyeball 32, ball fixing frame 31, first
Into
Eyeball 32 is fixed on ball fixing frame 31 in the way of typed ball bearing pair, and its rear portion is provided with push rod 321.On push rod 321
It is provided with two vias 3212 of orthogonal first via 3211 and second.
The first guiding push bracket 33 passes through first via 3211, and its two ends is hinged on the left and right two of ball fixing frame 31
Side.
This second is oriented to push bracket 34 and passes through second via 3233, and its two ends is hinged on up and down the two of ball fixing frame 31
Side.
The imitative eyeball mechanism realizes that the mode of apery eye movement is identical with aforementioned schemes, and here is omitted.
It should be noted that in the accompanying drawing of the embodiment of the present invention, the first leading truck is arranged at the inner side of the second leading truck,
In practical application, in two leading trucks which be arranged on inner side be not limited, can't influence it is of the invention implement effect
Really.
The Prosthetic Hand telecontrol equipment of the present embodiment, is oriented to by the first guiding push bracket, second and pushed away respectively using two steering wheels
Frame drives the pushrod movement of the spheroid of imitative eye movement mechanism simultaneously, for the spheroid for imitating eye movement mechanism provide up and down, a left side
Right totally four random rotations of the free degree, and combination is rotated, not only flexibly true to nature, and simple structure, reliability, parts
It is few, small volume, low cost.
Above by reference to the preferred embodiments of the present invention have been illustrated, not thereby limit to interest field of the invention.This
Art personnel do not depart from any modification, equivalent and the improvement made in the scope of the present invention and essence, all should be at this
Within the interest field of invention.
Claims (9)
1. a kind of Prosthetic Hand telecontrol equipment, it is characterised in that the Prosthetic Hand telecontrol equipment include at least one imitative eyeball mechanism,
First steering wheel and the second steering wheel：
The imitative eyeball mechanism include ball fixing frame, spheroid, first be oriented to push bracket and second be oriented to push bracket, the spheroid with
The mode of typed ball bearing pair is fixed on the ball fixing frame, and the spheroid is provided with push rod；
The cooperation that the first guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, first steering wheel
Drive described first to be oriented to push bracket to be rotated around the horizontal center line axis of the spheroid；
The cooperation that the second guiding push bracket is hinged on the ball fixing frame and is slided with the push rod, second steering wheel
Described second is driven to be oriented to vertical center axis thereof of the push bracket around the spheroid.
2. Prosthetic Hand telecontrol equipment as claimed in claim 1, it is characterised in that the imitative eyeball machine of the Prosthetic Hand telecontrol equipment
Structure is provided with two：
Described two imitative eyeball mechanisms first guiding push bracket between by push bracket connect, the push bracket and first steering wheel it
Between be provided with the first crank and rocker mechanism, first steering wheel drives the bottom in the push bracket by first crank and rocker mechanism
It is dynamic, so as to drive the first of described two imitative eyeball mechanisms to be oriented to push bracket be rotated around the horizontal center line axis of the spheroid；
Connected by connecting rod between second guiding push bracket of described two imitative eyeball mechanisms, second steering wheel is imitative with one of them
The second crank and rocker mechanism is provided between second guiding push rod of eyeball mechanism, second steering wheel is shaken by second crank
Linkage drives described second to be oriented to vertical center axis thereof of the push bracket around the spheroid, and described second is oriented to push bracket passes through institute
Stating connecting rod drives the second of another imitative eyeball mechanism to be oriented to vertical center axis thereof of the push rod around the spheroid.
3. Prosthetic Hand telecontrol equipment as claimed in claim 2, it is characterised in that the two ends of the connecting rod are respectively hinged at described
In second guiding push bracket of Liang Gefang eyeballs mechanism.
4. the Prosthetic Hand telecontrol equipment as described in any one of claims 1 to 3, it is characterised in that described first is oriented to push bracket
Two ends are hinged on the left and right sides of the ball fixing frame of the imitative eyeball mechanism, thereon along the horizontal center line axis side of the spheroid
To being provided with gathering sill；
The two ends of the second guiding push bracket are hinged on the both sides up and down of the ball fixing frame of the imitative eyeball mechanism, thereon along institute
The vertical central axial direction for stating spheroid is provided with gathering sill；
The push rod of the spheroid is oriented to the guiding of push bracket located at the described first gathering sill for being oriented to push bracket and described second simultaneously
In groove.
5. the Prosthetic Hand telecontrol equipment as described in any one of claims 1 to 3, it is characterised in that set on the push rod of the spheroid
There are orthogonal first via and the second via；
Described first is oriented to push bracket passes through first via, and its two ends is hinged on the ball fixing frame of the imitative eyeball mechanism
The left and right sides；
Described second is oriented to push bracket passes through second via, and its two ends is hinged on the ball fixing frame of the imitative eyeball mechanism
Upper and lower both sides.
6. the Prosthetic Hand telecontrol equipment as described in any one of claims 1 to 3, it is characterised in that the Prosthetic Hand telecontrol equipment
Base is additionally provided with, the ball fixing frame, the first steering wheel and the second steering wheel are each attached on the base.
7. Prosthetic Hand telecontrol equipment as claimed in claim 2 or claim 3, it is characterised in that the middle position of the push bracket is provided with
The first push rod in the push bracket is vertically fixed on, first push rod is provided with gathering sill, and first steering wheel is provided with
One drive rod, first drive rod is rotated under the driving of first steering wheel in vertical direction, and end is provided with and its own
Gathering sill on vertical lead column, the lead column and first push rod coordinates, and first push rod and described first drives
Lever constitutes the first crank and rocker mechanism.
8. Prosthetic Hand telecontrol equipment as claimed in claim 2 or claim 3, it is characterised in that one of them imitative eyeball mechanism
Second guiding push bracket is provided with the second push rod of level fixation, and second push rod is provided with gathering sill, on second steering wheel
The second drive rod is provided with, second drive rod is rotated and be provided with end in the horizontal direction under the driving of second steering wheel
Gathering sill on the lead column vertical with its own, the lead column and second push rod coordinates, second push rod and institute
State the second group of drive rods into second crank and rocker mechanism.
9. Prosthetic Hand telecontrol equipment as claimed in claim 2 or claim 3, it is characterised in that first steering wheel and second rudder
Machine is located between described two imitative eyeball mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290241.8A CN106903702A (en) | 2017-04-27 | 2017-04-27 | A kind of Prosthetic Hand telecontrol equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290241.8A CN106903702A (en) | 2017-04-27 | 2017-04-27 | A kind of Prosthetic Hand telecontrol equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903702A true CN106903702A (en) | 2017-06-30 |
Family
ID=59211048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710290241.8A Pending CN106903702A (en) | 2017-04-27 | 2017-04-27 | A kind of Prosthetic Hand telecontrol equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903702A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844121A (en) * | 2020-08-05 | 2020-10-30 | 西安宝鑫自动化设备有限公司 | Robot eyeball motion structure |
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| CN101570019A (en) * | 2009-05-26 | 2009-11-04 | 上海大学 | Robot with humanoid facial expression |
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| CN111844121A (en) * | 2020-08-05 | 2020-10-30 | 西安宝鑫自动化设备有限公司 | Robot eyeball motion structure |
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Application publication date: 20170630 |