CN108972605B - Bionic hand simulating hand movement - Google Patents
Bionic hand simulating hand movement Download PDFInfo
- Publication number
- CN108972605B CN108972605B CN201811048770.8A CN201811048770A CN108972605B CN 108972605 B CN108972605 B CN 108972605B CN 201811048770 A CN201811048770 A CN 201811048770A CN 108972605 B CN108972605 B CN 108972605B
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- thumb
- finger
- bevel gear
- palm
- plate
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- 230000033001 locomotion Effects 0.000 title claims abstract description 30
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 25
- 210000003813 thumb Anatomy 0.000 claims abstract description 206
- 210000003811 finger Anatomy 0.000 claims abstract description 201
- 230000005540 biological transmission Effects 0.000 claims abstract description 65
- 210000004932 little finger Anatomy 0.000 claims abstract description 34
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 22
- 210000005224 forefinger Anatomy 0.000 claims abstract 6
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 210000003857 wrist joint Anatomy 0.000 claims description 5
- 230000001815 facial effect Effects 0.000 abstract 1
- 238000004088 simulation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 210000004247 hand Anatomy 0.000 description 7
- 235000014676 Phragmites communis Nutrition 0.000 description 6
- 230000005057 finger movement Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
-
- 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
- A61F2/70—Operating or control means electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
Abstract
The application discloses bionic hand of simulation hand motion, including forefinger, middle finger, ring finger, little finger, thumb, palm, the palm includes the palm rest, palm rest facial make-up forefinger, middle finger, ring finger, little finger, thumb, the thumb includes: the upper end and the lower end of the thumb connecting shaft are respectively and rotatably connected with the upper palm finger plate and the lower palm finger plate of the thumb, the thumb connecting shaft is fixedly provided with a first thumb belt pulley, an output shaft of the thumb motor speed reducer is fixedly provided with a first thumb bevel gear, the first thumb bevel gear is simultaneously meshed with a second thumb bevel gear and a third thumb bevel gear arranged at the upper end of the thumb duplex wheel, the second thumb bevel gear drives the upper far-end plate of the thumb to rotate, the second thumb belt pulley arranged at the lower end of the thumb duplex wheel is in belt transmission connection with the first thumb belt pulley, the thumb duplex wheel is movably sleeved on the lower near-end pin of the thumb, and the lower near-end pin of the thumb is rotatably connected with the lower far-end plate of the thumb and the lower palm finger plate of the thumb, so that the two joints of the thumb can move, and the movement of the thumb is close to that of a healthy person.
Description
Technical Field
The invention relates to a bionic hand, in particular to a bionic hand simulating hand movement.
Background
Along with the continuous development of the technology level, the design of the bionic sport function is more and more favored by people, the hand is one of the most complex organs of the human body, the complex action can be realized, the market demand of the current bionic prosthetic hand is more and more great, and many hand handicapped people need to wear prosthetic hands with hand replacement functions or in production, the application of the bionic hand is continued on occasions with great harm to the human body.
The existing thumb of the bionic hand usually has only one degree of freedom, is far from the hand function of human beings, cannot meet the use requirement of the bionic hand function in the artificial hand or production engineering, and has metacarpophalangeal joints and distal phalangeal joints for completing certain works through complex movements.
Some existing bionic hands are provided with only two fingers, the shape and the function of the bionic hands are very similar to those of the clip, the grabbing function can be realized only, the grabbing is not firm enough, the bionic hands are quite attractive, and if the bionic hands are installed by a user, the bionic hands have a certain influence on the mind of the user.
Some bionic hands are driven by stay wires and connecting rods, the stay wires are easy to loosen and even break, long-term use is not utilized, and the movement of the connecting rod mechanism is not a linear change rule and is difficult to control.
The thumb has two degrees of freedom, and is very close to the finger movement function of a healthy person; the thumb is bent and stretched by adopting two joint linkage designs, and the driving motor is arranged in the metacarpophalangeal joint of the thumb, so that the space is saved for the palm part, and a control circuit can be accommodated; the four fingers (index finger, middle finger, ring finger and little finger) are bent and stretched by adopting three joint linkage structures, so that the motion function of the bionic hand is close to that of a healthy hand; the sliding rod mechanism adopts translational hinge connection instead of universal coupling connection, so that the transmission efficiency and the transmission stability are improved; the driving motors for the flexion and extension movements of the four fingers and the flexion and extension movements of the thumb are arranged in the fingers, so that the fingers are convenient to maintain and replace on one hand; the finger is driven to jointly move by adopting the gear mechanism, the belt transmission mechanism and the slide bar mechanism, so that the finger movement rule is stable and the movement is stable.
Disclosure of Invention
The invention aims at: provides a bionic hand with two degrees of freedom of thumb, index finger, middle finger, ring finger and little finger, and the fingers are all driven by independent motors
The purpose of the invention is realized in the following way: the bionic hand simulating hand movement comprises an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5 and a palm 11, wherein the index finger 1, the middle finger 2, the ring finger 3 and the little finger 4 are arranged at the front end of the palm 11, and the thumb 5 comprises: the thumb connecting shaft 501, the first thumb pulley 510, the thumb double-wheel 511, the first thumb bevel gear 513, the thumb motor speed reducer 514, the thumb motor rack 515 and the second thumb bevel gear 516, wherein the rear end and the front end of the thumb connecting shaft 501 are respectively and rotatably connected with the lower ends of the thumb upper palm plate 502 and the thumb lower palm plate 507, the first thumb pulley 510 is fixed on the thumb upper palm plate 502 through the thumb motor rack 515, the first thumb bevel gear 513 is fixed on the output shaft of the thumb motor speed reducer 514, the first thumb bevel gear 513 is meshed with the second thumb bevel gear 516 and the bevel gear three arranged at the rear end of the thumb double-wheel 511 at the same time, the small end of the second bevel gear 516 is arranged opposite to the small end of the third thumb bevel gear, the second thumb bevel gear 516 is fixed on the upper proximal pin 503, the upper fixed upper end of the upper distal end plate 504 of the thumb upper proximal pin 503 is rotatably connected with the upper end of the thumb upper palm plate 502, the thumb pulley 509 arranged at the front end of the double-wheel 511 is connected with the lower end of the thumb upper end plate 512 through the synchronous belt 509, the first thumb pulley 510 is formed by the two bevel gears 510 arranged at the front end of the double-wheel 511, and the lower end of the thumb motor speed reducer 511 is connected with the lower end of the lower thumb pin 512 through the transmission belt pulley 512;
the thumb connecting shaft 501 is fixed in the middle of the upper end of the palm 11.
The front and rear sides of the upper thumb plate 502 and the lower thumb plate 507 are respectively and fixedly connected through a thumb metacarpophalangeal connecting plate 508, and the front and rear sides of the upper thumb distal plate 504 and the lower thumb distal plate 506 are respectively and fixedly connected through a thumb distal connecting plate 505.
The palm 11 comprises a palm frame 1105, wherein the front end of the palm frame 1105 is sequentially provided with an index finger boss 1101, a middle finger boss 1104, a ring finger boss 1103 and a little finger boss 1102 from top to bottom, the front end is respectively used for installing an index finger, a middle finger and a ring finger, the little finger, the middle upper end of the palm frame 1105 is provided with a thumb boss 1108, and a thumb mounting hole arranged on the thumb boss 1108 is used for fixing the thumb connecting shaft 501.
The structure of the index finger 1 is the same as that of the middle finger 2, the ring finger 3 and the little finger 4, the index finger 1 comprises an index finger connecting shaft 101, a belt pulley I110, a finger motor speed reducer 111, a bevel gear I113, a bevel gear II 115, a duplex wheel 116, a bevel gear IV 120 and a bevel gear V121, the upper end and the lower end of the index finger connecting shaft 101 are respectively and rotatably connected with the rear ends of the upper metacarpal plate 102 and the lower metacarpal plate 109, the belt pulley I110 is fixed on the index finger connecting shaft 101, the finger motor speed reducer 111 is directly or indirectly fixed on the upper metacarpal plate 102, the bevel gear I113 is fixed on an output shaft of the finger motor speed reducer 111, and the bevel gear I113 is simultaneously meshed with a bevel gear II 115 and a bevel gear III arranged at the upper end of the duplex wheel 116;
the bevel gear II 115 is fixed on the upper proximal pin 114, the upper part of the upper proximal pin 114 is rotationally connected with the front end of the upper palm finger plate 102, the middle part of the upper proximal pin 114 is fixedly connected with the rear end of the upper proximal finger plate 103, the double-linked wheel 116 is movably sleeved on the upper end of the lower proximal pin 108, the lower proximal finger plate 107 is hinged with the lower palm finger plate 109 through the lower part of the lower proximal pin 108, the lower proximal pin 108 is rotationally connected with the lower palm finger plate 109 of the lower proximal finger plate 107, and the synchronous pulley II arranged at the lower end of the double-linked wheel 116 is in belt transmission connection with the pulley I110 through a synchronous belt 117;
the first bevel gear 113 is connected with the rotating disc 118 through a slide bar transmission mechanism, the rotating disc 118 is synchronously connected with the transmission disc through a transmission rod 125 in a transmission manner, and the synchronous rotation of the first bevel gear 113 and the rotating disc 118 after the position change is realized;
the transmission disc 126 is fixed at the rear end of the rotating shaft 127, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating shaft support 134 is fixed on the upper proximal fingerboard 103, the transmission disc 126 is rotationally arranged on the rotating disc support 128, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating disc support 128 and the rotating shaft support 134 are fixed on the upper proximal fingerboard 103, the front end of the rotating shaft 127 is fixed with the five 121 bevel gears, the five 121 bevel gears are meshed with the four 120 bevel gears, the four 120 bevel gears are fixed on the upper distal pin 119, the upper distal pin 119 is fixed at the rear end of the upper distal fingerboard 104, the upper distal pin 119 is rotationally connected with the front end of the upper proximal fingerboard 103, the rotating shaft 127 is coaxial with the transmission disc 126, the rotating disc 118 is coaxially arranged with the first bevel gear 113, and the front end of the lower proximal fingerboard 107 is hinged with the rear end of the lower distal fingerboard 105 through the lower distal pin 106; the upper proximal pin 114 is coaxial with the lower proximal pin 108 and the lower distal pin 106 is coaxial with the upper distal pin 119.
Index finger mounting holes arranged on index finger boss 1101 fix index finger connecting shaft 101, middle finger mounting holes arranged on middle finger boss 1104 fix middle finger connecting shaft, ring finger mounting holes arranged on ring finger boss 1103 fix ring finger connecting shaft, and little finger mounting holes arranged on little finger boss 1102 fix little finger connecting shaft.
As shown in fig. 8, the sliding rod transmission mechanism has the following structure: the slide bar transmission mechanism comprises a rear slide bar 122, a slide bar pin 123, a front slide bar 124, a transmission rod 125 and slide sleeves 129, wherein three rear slide bars 122 are arranged in a synchronous manner along the circumferential direction of the first bevel gear 113, the three rear slide bars 122 are horizontally arranged along the front-rear direction, the three rear slide bars 122 slide forwards and backwards with slide bar holes arranged on the first bevel gear 113, the rear slide bars are rotationally connected along the slide bar holes, the front part of each rear slide bar 122 is respectively hinged with one front slide bar 124 through one slide bar pin 123, the slide bar pin 123 is arranged along the vertical direction, each front slide bar 124 in the three front slide bars 124 is respectively connected with one slide sleeve 129 in a sliding manner, the three slide sleeves 129 are uniformly distributed along the circumferential direction of the first bevel gear 118, and the three slide sleeves 129 are rotationally connected with slide bar holes axially arranged on the first rotary disk 118;
each sliding sleeve 129 passes through the rotating disc 118 forwards and then fixes the upper rear extending end of one transmission rod 125, the front extending end is rotationally connected with a transmission rod mounting hole arranged on the transmission disc 126, the transmission disc 126 and the rotating disc 118 have the same structure, and the center distance between the transmission disc 126 and the rotating disc 118 along the up-down direction is equal to the distance between the rear extending end and the front extending end of the transmission rod 125.
The slide bar transmission mechanism further comprises a first spring plate 130, a first spring plate seat 131, a second spring plate 132 and a second spring plate seat 133, wherein after each sliding sleeve 129 passes through the rotating disc 118 backwards, the first spring plate seat 133 is fixed, the second spring plate 132 is fixed on the upper side and the lower side of the second spring plate seat 133, the second spring plate 132 has elasticity, the second spring plate 132 is contacted with the front slide bar 124 so as to prevent the front slide bar 124 from sliding independently when the upper palm finger plate 102 and the upper near end finger plate 103 are collinear, the first spring plate seat 131 is fixed at the position of the rear end of the first bevel gear 113, the first spring plates 130 are respectively arranged on the upper side and the lower side of the first spring plate seat 131, the first spring plates 130 have elasticity, and the first spring plates 130 are contacted with the rear slide bar 122 so as to prevent the rear slide bar 122 from sliding independently.
The palm 11 further includes a palm back cover 1107 and a palm front cover 1109, and the front side and the rear side of the palm rest 1105 are respectively fixed with the palm front cover 1109 and the palm back cover 1107.
The rear end of the palm rest 1105 is provided with two wrist joint connecting plates 1106 which extend backwards.
The first thumb bevel gear 513, the second thumb bevel gear 516 and the third thumb bevel gear have the same number of teeth.
Compared with the prior art, the invention has the following advantages:
1. the thumb has two degrees of freedom, and is very close to the finger movement function of a healthy person;
2. the thumb is bent and stretched by adopting two joint linkage designs, and the driving motor is arranged in the metacarpophalangeal joint of the thumb, so that the space is saved for the palm part, and a control circuit can be accommodated;
3. the four fingers (index finger, middle finger, ring finger and little finger) are bent and stretched by adopting three joint linkage structures, so that the motion function of the bionic hand is close to that of a healthy hand;
4. the driving motors for the flexion and extension movements of the four fingers and the flexion and extension movements of the thumb are arranged in the fingers, so that the fingers are convenient to maintain and replace on one hand;
5. the finger is driven to jointly move by adopting the gear mechanism, the belt transmission mechanism and the slide bar mechanism, so that the finger movement rule is stable and the movement is stable.
Drawings
Fig. 1 is a general structural diagram of a bionic hand simulating hand movements.
Fig. 2 is a second general structural diagram of a simulated hand simulating hand movements.
Fig. 3 is a general construction diagram of the thumb.
Fig. 4 is a general structural diagram of the thumb.
Fig. 5 is a schematic view of the overall structure of the index finger.
Fig. 6 is a schematic diagram of the metacarpal plate connection driving device of the index finger.
FIG. 7 is a schematic view of the connection of the proximal finger plate and the metacarpophalangeal plate of the index finger.
FIG. 8 is a schematic diagram of a proximal finger plate and a distal palm plate drive connection.
Fig. 9 is a schematic diagram of a second drive connection structure for the proximal finger plate and the metacarpophalangeal plate.
Fig. 10 is a schematic diagram of a driving connection structure of the proximal finger plate and the distal finger plate.
FIG. 11 is a schematic diagram of a proximal finger plate and distal finger plate drive connection.
Fig. 12 is a schematic view of a structure of a protective connection plate provided on a plate.
Fig. 13 is a schematic structural view of the palm rest with the palm back cover and the palm front cover fixed thereon.
Fig. 14 is a schematic view of a drive rod configuration.
Reference numerals: 11-palm, 22-wrist joint, 33-forearm, 1-index finger, 2-middle finger, 3-ring finger, 4-little finger, 5-thumb, 101-index finger connecting shaft, 102-upper palm plate, 103-upper proximal finger plate, 104-upper distal finger plate, 105-lower distal finger plate, 106-lower distal pin, 107-lower proximal finger plate, 108-lower proximal pin, 109-lower palm plate, 110-pulley one, 111-index finger motor, 112-index finger motor rack, 113-bevel gear one, 114-upper proximal pin, 115-bevel gear two, 116-duplex wheel, 117-timing belt, 118-rotating disk, 119-upper distal pin, 120-bevel gear four, 121-bevel gear five, 122-rear slide bar, 123-slide bar pin 124-front slide bar, 125-drive bar, 126-drive disk, 127-spindle, 128-drive disk support, 129-slide sleeve, 130-reed one, 131-reed seat one, 132-reed two, 133-reed seat two, 134-spindle support, 137-metacarpophalangeal connecting plate, 138-proximal connecting plate, 139-distal connecting plate, 1101-index finger boss, 1102-little finger boss, 1103-ring finger boss, 1104-middle finger boss, 1105-palm rest, 1106-wrist connecting plate, 1107-palm back cover, 1108-thumb boss, 1109-palm front cover, 501-thumb connecting shaft, 502-thumb upper metacarpophalangeal plate, 503-thumb upper proximal pin, 504-thumb upper distal plate, and, 505-thumb far end connecting plate, 506-thumb far end plate, 507-thumb lower palm finger plate, 508-thumb palm finger connecting plate, 509-thumb synchronous belt, 510-thumb belt pulley I, 511-thumb duplex wheel, 512-thumb lower near end pin, 513-thumb bevel gear I, 514-thumb motor reducer, 515-thumb motor frame, 516-thumb bevel gear II.
Detailed Description
Referring to fig. 1 to 14, a bionic hand simulating hand movement of the present invention includes an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5, and a palm 11, where the index finger 1, the middle finger 2, the ring finger 3, the little finger 4, and the thumb 5 are disposed on the palm 11, and the joints of the index finger 1, the middle finger 2, the ring finger 3, the little finger 4, and the thumb 5 and the palm 11 can swing along the palm 11, where the directions of the index finger 1 away from the palm and the little arm away from the wrist joint are respectively defined as a front direction and a rear direction, where the directions of the index finger 1 and the little finger 4 are respectively defined as an upper direction and a lower direction, where the index finger 1 can bend, and where the index finger 1 can be deployed are defined as a left side, so as to describe the present application, and since the index finger 1, the middle finger 2, the ring finger 3, and the little finger 4 have the same structure, the present application replaces and indicates the structure of the index finger 2, the ring finger 3, and the little finger 4, and the index finger 1 includes: the three-end bevel gear motor is characterized by comprising an index finger connecting shaft 101, an upper palm finger plate 102, an upper near-end finger plate 103, an upper far-end finger plate 104, a lower far-end finger plate 105, a lower far-end pin 106, a lower near-end finger plate 107, a lower near-end pin 108, a lower palm finger plate 109, a belt pulley I110, an index finger motor speed reducer 111, an index finger motor frame 112, a bevel gear I113, an upper near-end pin 114, a bevel gear II 115, a duplex wheel 116, a synchronous belt 117, a rotating disk 118, an upper far-end pin 119, a bevel gear IV 120, a bevel gear V121, a rear slide bar 122, a slide bar pin 123, a front slide bar 124, a transmission rod 125, a transmission disk 126, a rotating shaft 127, a rotating disk support 128, a sliding sleeve 129, a reed I130, a reed II 131, a reed II 133, a rotating disk support 134, a palm finger connecting plate 137, a near-end connecting plate 138 and a far-end connecting plate 139, wherein the rear ends of the upper palm finger plate 102 and the lower palm finger plate 109 are respectively rotatably connected with the upper end and the lower end of the index finger connecting shaft 101, the lower portion of the index finger connecting shaft 101 is fixedly provided with a belt pulley I110, the index finger motor speed reducer 111 is fixedly arranged on the index finger motor frame 111, the index finger motor speed reducer 112 is fixedly arranged on the upper end of the index finger motor frame and the bevel gear II bevel gear 112, and the bevel gear II bevel gear 112 is fixedly arranged on the bevel gear 112, and the bevel gear II bevel gear 112 is fixedly arranged at the three-end bevel gear 112 and the bevel gear 112 is fixedly arranged opposite to the bevel gear speed reducer 115.
The bevel gear II 115 is fixed at the lower end of the upper proximal pin 114, the upper part of the upper proximal pin 114 is rotationally connected with the front end of the upper palm finger board 102, the middle part of the upper proximal pin 114 is fixedly connected with the rear end of the upper proximal finger board 103, the double-linked wheel 116 is movably sleeved at the upper end of the lower proximal pin 108, the lower proximal finger board 107 is hinged with the lower palm finger board 109 through the lower part of the lower proximal pin 108, the lower proximal pin 108 is rotationally connected with the lower palm finger board 109 of the lower proximal finger board 107, and the synchronous pulley II arranged at the lower end of the double-linked wheel 116 is in belt transmission connection with the pulley I110 through a synchronous belt 117.
Three rear slide bars 122 are arranged along the circumferential direction of the first bevel gear 113 in a stepping way, the three rear slide bars 122 are horizontally arranged along the front-rear direction, the three rear slide bars 122 slide back and forth with slide bar holes arranged on the first bevel gear 113 and are rotationally connected along the slide bar holes, the front part of each rear slide bar 122 is hinged with one front slide bar 124 through one slide bar pin 123, the slide bar pins 123 are arranged along the vertical direction, each front slide bar 124 in the three front slide bars 124 is respectively and slidingly connected with one slide bush 129, the three slide bushes 129 are uniformly distributed along the circumferential direction of the rotating disc 118, the three slide bushes 129 are rotationally connected with slide bar holes axially arranged on the rotating disc 118, after each slide bush 129 passes through the rotating disc 118 backwards, a second reed seat 133 is fixed, the upper side and the lower side of the second reed seat 133 are fixedly provided with a second reed 132, the second spring 132 has elasticity, and the second spring 132 contacts with the front sliding rod 124 to provide friction force when realizing front sliding rod front and back sliding, prevent that the palm fingerboard 102 from independently sliding when being collinear with the upper near end fingerboard 103, influence the transmission effect of bevel gear one 113 to the rotating disk 118, the hole behind every sliding sleeve 129 forward passing the rotating disk 118 all fixes the upside back end of a transmission rod 125, transmission rod 125 upper end be provided with the back end that stretches out backward, transmission rod 125 lower extreme is provided with the front end that stretches out forward, the front end rotates with the transmission rod mounting hole that sets up on the driving disk 126 to be connected, the driving disk 126 is the same with rotating disk 118 mechanism, the center distance of driving disk 126 along upper and lower direction with the rotating disk 118 equals the distance between transmission rod 125 back end and the front end. The sliding sleeve 129 is used for realizing that the sliding sleeve 129 only moves in a translation mode relative to the upper near-end fingerboard 103 and does not rotate, the front sliding rod 124 only moves in a translation mode relative to the upper near-end fingerboard 103 and does not rotate, the sliding rod pin 123 always keeps vertical direction setting, the front sliding rod 124 and the rear sliding rod 122 can rotate relatively along the horizontal direction and transmit power simultaneously, accordingly, the rotation of the bevel gear I113 drives the rotating disc 118 to rotate synchronously through the transmission between the rear sliding rod 122 and the front sliding rod 124, the outer cylindrical surface of the rotating disc 118 is installed in an inner hole of the rotating disc support 128, the rotating disc support 128 is fixed on the upper near-end fingerboard 103, the middle of the rotating shaft 127 is rotatably installed in an inner hole at the lower end of the rotating shaft support 134, and the upper end of the rotating shaft support 134 is fixed on the upper near-end fingerboard 103.
The structure of the sliding connection between the front sliding rod 124 and the sliding sleeve 129 is as follows: the inner hole of the sliding sleeve 129 is rectangular, the outer surface of the front sliding rod 124 is rectangular, and the outer rectangular surface of the sliding rod 124 is in sliding connection with the rectangular inner hole of the sliding sleeve 129.
The position of the rear end of the bevel gear 113, which is adapted to the rear sliding rod 122, is fixed with a first spring seat 131, the upper and lower sides of the first spring seat 131 are respectively provided with a first spring 130, the first spring 130 has elasticity, the first spring 130 contacts with the rear sliding rod 122, and when the upper palm fingerboard 102 and the upper near end fingerboard 103 are collinear, i.e. when the index finger straightens, the rear sliding rod 122 is prevented from sliding independently, the transmission effect from the bevel gear 113 to the rotating disc 118 is affected, and the friction force of the rear sliding rod 122 in the transmission process is small, for example, 1 n, due to the elasticity of the first spring 130, and the front and rear movement of the rear sliding rod 122 in the transmission process is not affected.
The rotating disc 118 is coaxially arranged with the bevel gear 113.
The rear end of the rotating shaft 127 is fixed by the driving disc 126, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating shaft support 134 is fixed on the upper near-end fingerboard 103, the front end of the rotating shaft 127 is fixed with the bevel gear five 121, the bevel gear five 121 is meshed with the bevel gear four 120, the bevel gear four 120 is fixed at the lower end of the upper far-end pin 119, the middle part of the upper far-end pin 119 is fixed at the rear end of the upper far-end fingerboard 104, the upper end of the upper far-end pin 119 is rotationally connected with the front end of the upper near-end fingerboard 103, and the rotating shaft 127 and the driving disc 126 are coaxially arranged.
The front end of the lower proximal finger plate 107 is hinged to the rear end of the lower distal finger plate 105 by a lower distal pin 106.
The left and right sides of the upper metacarpophalangeal plate 102 and the lower metacarpophalangeal plate 109 are fixedly connected by a metacarpophalangeal connecting plate 137 respectively, the left and right sides of the upper proximal end fingerplate 103 and the lower proximal end fingerplate 107 are fixedly connected by a proximal connecting plate 138 respectively, and the left and right sides of the upper distal end fingerplate 104 and the lower distal end fingerplate 105 are fixedly connected by a distal connecting plate 139 respectively.
The upper proximal pin 114 is coaxial with the lower proximal pin 108 and the lower distal pin 106 is coaxial with the upper distal pin 119.
The index finger 1, the middle finger 2, the ring finger 3 and the little finger 4 are horizontally arranged along the front-back direction, and the thumb 5 is arranged along the up-down direction.
The thumb 5 comprises: a thumb coupling shaft 501, a thumb upper metacarpal plate 502, a thumb upper proximal pin 503, a thumb upper distal plate 504, a thumb distal connection plate 505, a thumb lower distal plate 506, a thumb lower metacarpal plate 507, a thumb metacarpal connection plate 508, a thumb timing belt 509, a thumb pulley one 510, a thumb duplex 511, a thumb lower proximal pin 512, a thumb bevel gear one 513, a thumb motor reducer 514, a thumb motor housing 515, a thumb bevel gear two 516, the rear end and the front end of the thumb connecting shaft 501 are respectively and rotatably connected with the lower ends of the thumb upper palm plate 502 and the thumb lower palm plate 507, the front part of the thumb connecting shaft 501 is fixed with a first thumb belt pulley 510, a thumb motor speed reducer 514 is fixed on a thumb motor frame 515, the thumb motor frame 515 is fixed on the thumb upper palm plate 502, the output shaft of the thumb motor speed reducer 514 is fixed with a first thumb bevel gear 513, the first thumb bevel gear 513 is simultaneously meshed with a second thumb bevel gear 516 and a third thumb bevel gear arranged at the rear end of the thumb duplex wheel 511, the small end of the second bevel gear 516 is opposite to the small end of the third bevel gear 516, the second bevel gear 516 is fixed at the front end of the upper proximal pin 503, the middle part of the upper proximal pin 503 is fixed at the lower end of the upper distal plate 504, the rear end of the upper proximal pin 503 is rotatably connected with the upper end of the upper metacarpal plate 502, the thumb pulley II arranged at the front end of the thumb duplex 511 is in belt transmission connection with the thumb pulley I510 through the thumb synchronous belt 509, the thumb duplex wheel 511 is movably sleeved at the rear end of the thumb lower proximal pin 512, the lower end of the thumb lower distal plate 506 is hinged with the upper end of the thumb lower metacarpophalangeal plate 507 through the thumb lower proximal pin 512, and the thumb lower proximal pin 512 is rotatably connected with the lower end of the thumb lower distal plate 506 and the upper end of the thumb lower metacarpophalangeal plate 507.
The front and rear sides of the upper thumb plate 502 and the lower thumb plate 507 are respectively and fixedly connected through a thumb metacarpophalangeal connecting plate 508, and the front and rear sides of the upper thumb distal plate 504 and the lower thumb distal plate 506 are respectively and fixedly connected through a thumb distal connecting plate 505.
The palm 11 include palm frame 1105, palm back 1107, palm front 1109, the front end of palm frame 1105 from last to having set gradually index finger boss 1101, middle finger boss 1104, ring finger boss 1103, little finger boss 1102 down, the index finger connecting axle 101 is fixed to the index finger mounting hole that sets up on the index finger boss 1101, the middle finger connecting axle is fixed to the middle finger mounting hole that sets up on the middle finger boss 1104, the ring finger connecting axle is fixed to the ring finger mounting hole that sets up on the ring finger boss 1103, the little finger connecting axle is fixed to the little finger mounting hole that sets up on the little finger boss 1102, the middle upper end of palm frame 1105 be provided with thumb boss 1108, the thumb connecting axle 501 is fixed to the thumb mounting hole that sets up on the thumb boss 1108.
The front and rear sides of the palm rest 1105 are respectively fixed with a palm front cover 1109 and a palm rear cover 1107.
The rear end of the palm rest 1105 is provided with two wrist joint connecting plates 1106 which extend backwards.
The motor is connected with the control system, and a person skilled in the art can control and drive the motors, and can control the flexion and extension of four fingers (index finger, middle finger, ring finger and little finger) and the flexion and extension of the thumb and the swing of the wrist joint.
When the control system controls the index finger to bend, the motor in the index finger motor reducer 111 is controlled to be electrified, the motor drives the bevel gear I113 to rotate, the bevel gear II 115 rotates to drive the upper near-end fingerboard 103 to rotate, the bevel gear I113 simultaneously drives the duplex wheel 116 to rotate, belt transmission connection is formed between the synchronous belt 117 and the belt wheel I110, belt transmission can be replaced by chain transmission, the index finger connecting shaft 101 is fixed on the palm frame 1105, the lower metacarpal fingerboard 109 swings relative to the index finger connecting shaft 101, the bevel gear II 115 and the duplex wheel 116 rotate in opposite directions, the upper near-end fingerboard 103 swings in the same direction as the lower metacarpal fingerboard 109, the rear sliding bar 122 drives the front sliding bar 124 to move through the sliding bar pin 123 due to the rotation of the bevel gear I113, the upper near-end fingerboard 103 swings and bends relative to the upper near-end fingerboard 103, the rear sliding bar 122 and the front sliding bar 124 bend along the sliding bar pin 123 during the rotation of the driving rotating disc 118, the transmission disc 126 and the rotating disc 118 are driven by a transmission rod 125, the rear extension end of the transmission rod 125 is fixed with a sliding sleeve 129, the sliding sleeve 129 rotates relative to the rotating disc 118, only translates relative to the upper near-end fingerboard 103, the sliding rod pin 123 is always arranged along the vertical direction, the rear sliding rod 122 and the front sliding rod 124 can always bend along the sliding rod pin 123, when the upper palm fingerboard 102 swings relative to the upper near-end fingerboard 103, the rear sliding rod 122 and the front sliding rod 124 move towards the swinging bending position direction of the upper palm fingerboard 102 and the upper near-end fingerboard 103, the rear sliding rod 122 and the front sliding rod 124 slide backwards and forwards respectively, adapt to the position change that the distance between the first bevel gear 113 and the rotating disc 118 is reduced, the rotating disc drives the transmission disc 126 to rotate through the transmission rod 125, the transmission disc 126 drives the rotating shaft 127 to rotate, the bevel gear five 121 is driven to rotate, the bevel gear four 120 is driven to rotate, bevel gear IV 120 drives upper distal fingerboard 104 to rotate through upper distal pin 119, realizes upper palm fingerboard 102, upper proximal fingerboard 103, upper distal fingerboard 104 synchronous and same-direction swing, and realizes bionic motion four-finger (index finger, middle finger, ring finger, little finger) motion.
When the control system controls the thumb to bend, a motor in the thumb motor reducer 514 is controlled to be electrified, the first thumb bevel gear 513 rotates, the second thumb bevel gear 516 and the thumb duplex wheel 511 rotate, the rotation directions are opposite, the second thumb bevel gear 516 drives the upper thumb far-end plate 504 to swing, the first thumb belt wheel 510 is fixed on the thumb connecting shaft 501, the thumb duplex wheel 511 rotates, the lower thumb plate 507 swings along the thumb connecting shaft 501 through belt transmission of the thumb synchronous belt 509, and the swing directions of the lower thumb plate 507 and the upper thumb far-end plate 504 are the same, so that bionic movement of the thumb 5 is realized.
Claims (7)
1. The utility model provides a simulate bionic hand of hand motion, includes forefinger (1), well finger (2), ring finger (3), little finger (4), thumb (5), palm (11), forefinger (1), well finger (2), ring finger (3), little finger (4) set up the front end at palm (11), thumb (5) include: the thumb connecting shaft (501), the first thumb pulley (510), the double-connected thumb wheel (511), the first thumb bevel gear (513), the thumb motor speed reducer (514), the thumb motor rack (515) and the second thumb bevel gear (516), wherein the rear end and the front end of the thumb connecting shaft (501) are respectively and rotatably connected with the lower end of the upper thumb plate (502) and the lower thumb plate (507), the first thumb pulley (510) is fixed on the upper thumb plate (502) through the thumb motor rack (515), the first thumb bevel gear (513) is fixed on the output shaft of the thumb motor speed reducer (514) through the first thumb motor rack (513), the first thumb bevel gear (513) is meshed with the second thumb bevel gear (516) and the third thumb bevel gear (511) arranged at the rear end of the double-connected thumb pulley (511), the small end of the second thumb bevel gear (516) is opposite to the small end of the third thumb bevel gear (516), the second thumb (516) is fixed on the upper proximal pin (503), the lower end of the upper thumb plate (504) is fixed on the upper proximal pin (503), the upper end of the upper thumb pin (503) is connected with the upper thumb pulley (509) through the second thumb belt (509) and the upper thumb belt pulley (509) is connected with the front thumb belt pulley (510) through the double-connected with the thumb belt pulley (511), the thumb duplex wheel (511) is movably sleeved on a thumb lower proximal pin (512), and the thumb lower proximal pin (512) is rotationally connected with the lower end of the thumb lower distal plate (506) and the upper end of the thumb lower metacarpophalangeal plate (507);
the thumb connecting shaft (501) is fixed in the middle of the upper end of the palm (11);
the structure of the index finger (1) is the same as that of the middle finger (2), the ring finger (3) and the little finger (4), the index finger (1) comprises an index finger connecting shaft (101), a belt pulley I (110), a finger motor speed reducer (111), a bevel gear I (113), a bevel gear II (115), a duplex wheel (116), a bevel gear IV (120) and a bevel gear V (121), the upper end and the lower end of the index finger connecting shaft (101) are respectively rotationally connected with the rear ends of an upper palm finger board (102) and a lower palm finger board (109), the belt pulley I (110) is fixed by the index finger connecting shaft (101), the finger motor speed reducer (111) is directly or indirectly fixed on the upper palm finger board (102), the bevel gear I (113) is fixed by an output shaft of the finger motor speed reducer (111), and the bevel gear I (113) is simultaneously meshed with the bevel gears II (115) and the bevel gear III arranged at the upper end of the duplex wheel (116);
the bevel gear II (115) is fixed on the upper proximal pin (114), the upper part of the upper proximal pin (114) is rotationally connected with the front end of the upper palm fingerboard (102), the middle part of the upper proximal pin (114) is fixedly connected with the rear end of the upper proximal fingerboard (103), the duplex wheel (116) is movably sleeved at the upper end of the lower proximal pin (108), the lower proximal fingerboard (107) is hinged with the lower palm fingerboard (109) through the lower part of the lower proximal pin (108), the lower proximal pin (108) is rotationally connected with the lower palm fingerboard (109) of the lower proximal fingerboard (107), and the synchronous belt pulley II arranged at the lower end of the duplex wheel (116) is in belt transmission connection with the belt pulley I (110) through a synchronous belt (117);
the first bevel gear (113) is connected with the rotating disc (118) through a slide bar transmission mechanism, the rotating disc (118) is synchronously connected with the transmission disc through a transmission rod (125), and synchronous rotation can be realized after the positions of the first bevel gear (113) and the rotating disc (118) are changed;
the transmission disc (126) is fixedly connected with the rear end of the rotating shaft (127), the middle part of the rotating shaft (127) is rotationally connected with the rotating shaft support (134), the rotating shaft support (134) is fixedly arranged on the upper near-end fingerboard (103), the transmission disc (126) is rotationally arranged on the rotating disc support (128), the middle part of the rotating shaft (127) is rotationally connected with the rotating shaft support (134), the rotating disc support (128) and the rotating shaft support (134) are fixedly arranged on the upper near-end fingerboard (103), the front end of the rotating shaft (127) is fixedly provided with a bevel gear five (121), the bevel gear five (121) is meshed with a bevel gear four (120), the bevel gear four (120) is fixedly arranged on an upper far-end pin (119), the upper far-end pin (119) is fixedly arranged at the rear end of the upper far-end fingerboard (104), the upper far-end pin (119) is rotationally connected with the front end of the upper near-end fingerboard (103), the rotating shaft (127) is coaxial with the transmission disc (126), the rotating disc (118) is coaxially arranged with the bevel gear one (113), and the front end of the lower near-end fingerboard (107) is hinged with the rear end of the far-end fingerboard (105) through a far-end pin (106); the upper proximal pin (114) is coaxial with the lower proximal pin (108), and the lower distal pin (106) is coaxial with the upper distal pin (119);
the sliding rod transmission mechanism has the structure that: the slide bar transmission mechanism comprises a rear slide bar (122), slide bar pins (123), front slide bars (124), transmission bars (125) and sliding sleeves (129), three rear slide bars (122) are arranged in a synchronous way along the circumferential direction of a bevel gear I (113), the three rear slide bars (122) are horizontally arranged along the front and rear directions, the three rear slide bars (122) slide forwards and backwards along slide bar holes arranged on the bevel gear I (113), the rear slide bars are rotationally connected along the slide bar holes, the front part of each rear slide bar (122) is respectively hinged with one front slide bar (124) through one slide bar pin (123), the slide bar pins (123) are arranged along the vertical direction, each front slide bar (124) in the three front slide bars (124) is respectively connected with one sliding sleeve (129) in a sliding way, the three sliding sleeves (129) are uniformly distributed along the circumferential direction of a rotating disc (118), and the three sliding sleeves (129) are rotationally connected with the sliding sleeve holes axially arranged on the rotating disc (118);
each sliding sleeve (129) passes through the rotating disc (118) forwards and then fixes the upper rear extension end of one transmission rod (125), the front extension end is rotationally connected with a transmission rod mounting hole arranged on the transmission disc (126), the transmission disc (126) is identical with the rotating disc (118) in mechanism, and the center distance between the transmission disc (126) and the rotating disc (118) along the up-down direction is equal to the distance between the rear extension end and the front extension end of the transmission rod (125);
the slide bar transmission mechanism further comprises a first spring plate (130), a first spring plate seat (131), a second spring plate seat (132) and a second spring plate seat (133), wherein after each sliding sleeve (129) passes through the rotating disc (118) backwards, the first spring plate seat (133) is fixed, the second spring plate seat (132) is fixed on the upper side and the lower side of the second spring plate seat (133), the second spring plate seat (132) is elastic, the second spring plate seat (132) is contacted with the front slide bar (124) and is used for preventing the front slide bar (124) from automatically sliding when the upper palm finger plate (102) is collinear with the upper near-end finger plate (103), the first spring plate seat (131) is fixed at the position where the rear end of the first bevel gear (113) is matched with the rear slide bar (122), the first spring plate seat (130) is elastic, and the first spring plate seat (130) is contacted with the rear slide bar (122) and is used for preventing the rear slide bar (122) from automatically sliding.
2. The simulated hand for simulating hand movement of claim 1, wherein: the front side and the rear side of the thumb upper metacarpal finger plate (502) and the thumb lower metacarpal finger plate (507) are respectively and fixedly connected through a thumb metacarpal finger connecting plate (508), and the front side and the rear side of the thumb upper distal end plate (504) and the thumb lower distal end plate (506) are respectively and fixedly connected through a thumb distal end connecting plate (505).
3. The simulated hand for simulating hand movement of claim 1, wherein: palm (11) include palm frame (1105), the front end of palm frame (1105) from last to having set gradually forefinger boss (1101), well finger boss (1104), ring finger boss (1103), little finger boss (1102) down, be used for installing forefinger, well finger, ring finger, little finger respectively, the middle upper end of palm frame (1105) is provided with thumb boss (1108), thumb mounting hole fixed thumb connecting axle (501) that set up on thumb boss (1108).
4. A simulated hand for simulating hand movement as claimed in claim 3 wherein: index finger mounting holes arranged on index finger bosses (1101) are used for fixing index finger connecting shafts (101), middle finger mounting holes arranged on middle finger bosses (1104) are used for fixing middle finger connecting shafts, ring finger mounting holes arranged on ring finger bosses (1103) are used for fixing ring finger connecting shafts, and little finger mounting holes arranged on little finger bosses (1102) are used for fixing little finger connecting shafts.
5. The simulated hand for simulating hand movement of claim 3 or 4, wherein: the palm (11) also comprises a palm back cover (1107) and a palm front cover (1109), and the front side and the back side of the palm frame (1105) are respectively fixed with the palm front cover (1109) and the palm back cover (1107).
6. The simulated hand for simulating hand movement of claim 3 or 4, wherein: the rear end of the palm frame (1105) is provided with two wrist joint connecting plates (1106) which extend backwards.
7. A simulated hand for simulating hand movement as claimed in any one of claims 1 to 4 wherein: the first thumb bevel gear (513), the second thumb bevel gear (516) and the third thumb bevel gear have the same number of teeth.
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Address after: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant after: HENAN XIANGYU MEDICAL EQUIPMENT Co.,Ltd. Address before: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant before: Henan Xiangyu Medical Equipment Co.,Ltd. Address after: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant after: Henan Xiangyu Medical Equipment Co.,Ltd. Address before: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant before: ANYANG XIANGYU MEDICAL EQUIPMENT Co.,Ltd. |
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