CN109674562A - Train formula under-actuated bionic artificial limb finger - Google Patents
Train formula under-actuated bionic artificial limb finger Download PDFInfo
- Publication number
- CN109674562A CN109674562A CN201910057051.0A CN201910057051A CN109674562A CN 109674562 A CN109674562 A CN 109674562A CN 201910057051 A CN201910057051 A CN 201910057051A CN 109674562 A CN109674562 A CN 109674562A
- Authority
- CN
- China
- Prior art keywords
- knuckle
- spur gear
- finger
- axis
- rack
- 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.)
- Granted
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 210000001145 finger joint Anatomy 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000005057 finger movement Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000000354 decomposition reaction Methods 0.000 abstract description 2
- 210000001037 metacarpus Anatomy 0.000 abstract 1
- 230000008520 organization Effects 0.000 abstract 1
- 210000003811 finger Anatomy 0.000 description 89
- 210000003414 extremity Anatomy 0.000 description 8
- 210000003813 thumb Anatomy 0.000 description 8
- 210000004932 little finger Anatomy 0.000 description 4
- 230000009347 mechanical transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- 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
- A61F2002/5081—Additional features
- A61F2002/5083—Additional features modular
-
- 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
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of train formula under-actuated bionic artificial limb fingers.Finger body part of the present invention includes finger pedestal, first knuckle rack, first knuckle shell, second knuckle rack, second knuckle shell, third knuckle；Finger mechanical drive train includes micromotor micro speed reducing device assembly, bevel gear pair and spur gear pair；After transmission chain drives to the 4th spur gear, Kinematic Decomposition is two branches, wherein a branch realizes the movement of second joint, another branch realizes that the movement in the first joint, the movement in two joints are couplings, form drive lacking motion mode.Finger of the present invention designs for modular organization, and convenient for the assembly and dismounting of entire finger, finger structure is simple, light-weight, and the design of finger causes metacarpus thickness to reduce.
Description
Technical field
The invention belongs to medical rehabilitation instrument field, in particular to a kind of train formula under-actuated bionic artificial limb finger.
Background technique
Prosthetic hand is installed on disabled person's deformed limb end, for realizing certain functions of manpower.German OttoBock company
Suva single-degree-of-freedom prosthetic hand is driven with a micromotor, this kind of prosthetic hand only has simple folding function, can not achieve multiple
Miscellaneous action mode.Modern prosthese hand then has multiple freedom degrees, general tool there are five finger, wherein index finger, middle finger, the third finger and
Little finger of toe mechanical structure is identical, is referred to as finger, and each finger is main movable joint there are two joint, the first joint, and second joint is
Driven joint, the movement in two joints are couplings, and each finger is driven by a micromotor, claim this driving method in the industry
For drive lacking.More representational multi-freedom artificial limb hand is that the ilimb that the Blatchford&son company of Britain produces is false
The Bebionic prosthetic hand of limb hand and the production of Steeper company, Iceland.The first joint of finger of ilimb prosthetic hand is by worm and wormwheel
Driving, micromotor micro speed reducing device assembly are placed in the cavity of finger first knuckle, and miniature reducer output shaft passes through cone tooth
Wheel set drives worm screw revolution, and worm gear is connected to palmar hand, fixed relative to palm, and when motor revolution, worm screw is together with micro-
Type motor miniature reducer and first knuckle are turned round around worm gear, realize the movement in the first joint, second joint is by being connected to worm gear
Rope driving.The major defect of the type artificial limb hand finger is that micromotor micro speed reducing device assembly is placed in finger first knuckle
In cavity, although the space of palm can be saved, limited by micromotor miniature reducer length, finger first knuckle
Length is longer than manpower finger joint length, and micromotor miniature reducer is also used as the load of micromotor, and waste motor has
Power is imitated, the centre of gyration of first knuckle is the center of worm gear, is located at first knuckle palm center portion, when wearing apery hand skin
When, the deformation of hand skin joint is very big, greatly wastes the effective power of motor, the effective power that finger can be used to grab is very
It is small.The first joint of finger of Bebionic prosthetic hand is driven by sliding-block linkage, and second joint is driven by four-bar mechanism, and four
The active movement rod piece of connecting rod is first knuckle, and micromotor micro speed reducing device assembly is placed in palm.This type of prosthetic hand
Major defect is that finger the first joint transmission chain is arranged as two layers, although this reduces the length of transmission chain, compares palm
Plumpness affects the good appearance of prosthetic hand.
In addition, by being found to existing literature retrieval:
Chinese invention patent publication number: CN 1418765, title: Dexterous Robot Hand Mechanism.Two passes of each finger
Section is divided to be controlled respectively by two motors, although increasing flexibility, is not suitable for prosthetic hand due to weight etc..
Chinese invention patent publication number: CN 1365877, title: multi-finger hand simulating.Index finger, middle finger, nothing
Name refer to, four fingers of little finger of toe, one motor control；One motor control of thumb.It is only able to achieve the five fingers grasping manipulation mode,
The finger of other motor patterns such as two pinch take, the operation modes such as double click cannot achieve.
Chinese invention patent publication number: 103565562 A of CN, a kind of title: drive lacking prosthetic hand.Use three motors
The movement of five fingers is controlled, wherein index finger and middle finger are by a motor control, and nameless and little finger of toe is by a motor control, thumb
Refer to by a motor control, can not achieve the self-movement of each finger.Its mechanical drive train is motor driven feed screw nut's machine
Structure, then by slide block guide rail mechanism the rotary motion of motor is converted to the linear movement of sliding block, sliding block pulls rope to drive hand
Refer to each finger joint, transmission chain is longer, keeps hand sizes also longer；The outward turning of thumb and the bent exhibition movement of thumb are not independent.
Chinese invention patent publication number: 103538077 A of CN, a kind of title: multiple degrees of freedom bionic mechanical hand.Use six
Platform motor control prosthetic hand, wherein index finger, middle finger, ring finger and little finger respectively use a motor；Two motors of thumb, one with
In thumb outward turning, one is bent exhibition for thumb.Motor is all fixed on palm, and mechanical drive train is worm and worm gear.Finger
It is sequentially put with thumb motor, keeps palm very long.
Summary of the invention
It is an object of the invention to overcome the shortcomings of in current prosthetic hand product, provide a kind of good appearance, control flexibly,
Powerful modularization train formula under-actuated bionic artificial limb finger structure.
The present invention is achieved through the following technical solutions:
A kind of train formula under-actuated bionic artificial limb finger, finger are made of finger ontology and finger mechanical drive train；Finger
Ontology includes finger pedestal, first knuckle rack, first knuckle shell, second knuckle rack, second knuckle shell from the near to the distant,
Third knuckle；First knuckle rack passes through the second axis connection in finger pedestal distal end, and can make rotary motion around the second axis, is formed
The first joint of finger, first knuckle shell are referred to by the second axis and third axis connection in first knuckle rack, and relative to first
It is fixed to save rack；Second knuckle rack passes through the 4th axis connection in first knuckle rack distal end, and can refer to relative to first
Rotary motion is made in section rack distal end, forms finger second joint, and second knuckle shell is by the 4th axis and the 5th axis connection in the
Two finger joint racks, and it is fixed relative to second knuckle rack；Third knuckle is connected to by the first pin and the second pin
Second knuckle rack, and it is fixed relative to second knuckle rack；
Finger movement transmission chain includes micromotor micro speed reducing device assembly, first bevel gear, second bevel gear, first straight
Gear, the second spur gear, third spur gear, the 4th spur gear, the 5th spur gear, the 6th spur gear, the 7th spur gear, the 8th are directly
Gear and the 9th spur gear；Micromotor micro speed reducing device assembly is connected to finger pedestal by interference connection type, and is located at
Palm centre of the palm position；First bevel gear exports axle journal by the D-section that its D-section centre bore is set in miniature reducer
On, the rotary motion of miniature reducer output axle journal can drive first bevel gear with its synchronous rotation；Second bevel gear passes through its D
Tee section centre bore is set on the side D-section axle journal of first axle, and first axle is installed in a hole of finger pedestal,
And can be turned round in hole, perpendicular to the output shaft of miniature reducer, second bevel gear is meshed first axle with first bevel gear, and
One spur gear is connected on first axle other end D-section axle journal by its D-section centre bore, and first axle installs the first straight-tooth
The side of wheel is equipped with elastic collar to realize the axially position of spur gear；Second axis sequentially passes through outside first knuckle from left to right
The left plate proximal end bore of shell, the second spur gear centre bore, finger pedestal inner hole, first knuckle rack proximal end bore, the 9th spur gear
The right side plate proximal end bore of centre bore and first knuckle shell, the second axis and finger pedestal inner hole are interference fit, are passed through with other
Part be dynamic cooperation, and the second spur gear is meshed with the first spur gear；The periphery of 9th spur gear wheel hub is cut for D-shaped
Face, the wheel hub are connected in the inner hole of a tool D-section of finger pedestal, thus, the 9th spur gear is relative to finger pedestal
It is fixed；Third axis sequentially passes through the left plate remote stomidium of first knuckle shell, third spur gear center from left to right
Hole, first knuckle rack interstitial hole, the 8th spur gear centre bore and first knuckle shell right side plate remote stomidium, third axis and
One finger joint rack interstitial hole is interference fit, is dynamic cooperation, third spur gear and the second spur gear with other parts that it is passed through
It is meshed, the 8th spur gear is meshed with the 9th spur gear；4th axis sequentially passes through the left side of second knuckle shell from left to right
Plate proximal end bore, the 4th spur gear centre bore, first knuckle rack remote stomidium, second knuckle rack proximal end bore, in the 7th spur gear
Heart hole and the right proximal hole of second knuckle shell, the 4th axis periphery are D-section, and the 4th spur gear centre bore is D-section
Hole, the 7th spur gear centre bore are D-section hole, thus the 4th spur gear and the 7th spur gear can only synchronous revolving, the 4th axis
It is dynamic cooperation with other parts passed through；5th axis sequentially passes through the left plate remote stomidium of second knuckle shell, from left to right
Five spur gear centre bores, second knuckle rack interstitial hole, the 6th spur gear centre bore, spacer centre bore and second knuckle shell
Far right end hole, the 5th axis periphery are D-section, and the 5th spur gear centre bore is D-section hole, and the 6th spur gear centre bore is
D-section hole, thus the 5th spur gear and the 6th spur gear can only synchronous revolving, the 5th axis is dynamic match with other parts passed through
It closes；First pin sequentially passes through third knuckle left proximal hole, second knuckle rack proximal end pin hole, third knuckle from left to right
Right proximal hole, the second pin sequentially pass through from left to right third knuckle left distal hole, second knuckle rack distal end pin hole,
Third knuckle far right end hole, the part that the first pin is passed through with it are interference fit, the part that the second pin is passed through with it
It also is interference fit, thus third knuckle is fixed relative to second knuckle rack.
Mechanical transmission course when finger, which is counted on one's fingers, to be moved are as follows: micromotor turns round clockwise, is subtracted by miniature
Fast device slows down, and the output diameter of axle of miniature reducer drives first bevel gear to turn round around its axis both clockwise, with first bevel gear phase
The second bevel gear of engagement is made counterclockwise to turn round, the first spur gear be located at first knuckle left side synchronized with second bevel gear it is inverse
Hour hands revolution；The second spur gear engaged with the first spur gear is located on the left of first knuckle and empty set is on the second axis, as
Idle pulley turns round clockwise on the second axis；The third spur gear engaged with the second spur gear is located on the left of first knuckle and empty set exists
On third axis, make counterclockwise to turn round on third axis as idle pulley；The 4th spur gear engaged with third spur gear is located at
It on the left of second knuckle and is fixedly connected on the 4th axis, makees to turn round clockwise in company with the 4th axis；7th spur gear is located at the
It is fixedly connected on the right side of two finger joints and with the 4th axis, is turned round clockwise with the 4th axis；8th spur gear is located at the right side of first knuckle
And empty set is on third axis, by engaging with the 7th spur gear, makees counterclockwise to turn round on third axis；9th spur gear
On the right side of the first knuckle, which is fixedly connected with finger pedestal, due to being engaged with the 8th spur gear, finger first knuckle
Then generate the movement of counting on one's fingers around the second axis namely the first joint；5th spur gear is located on the right side of second knuckle and fixes with the 5th axis
Connection, the 5th spur gear are engaged with the 4th spur gear, and the 5th axis is made to make turning anticlockwise movement, and the 6th spur gear is located at second
On the right side of finger joint, and it is fixedly connected with the 5th axis, thus the 6th spur gear also makees turning anticlockwise movement；On the right side of first knuckle rack
End is machined with the gear teeth and is meshed with the 6th spur gear, and the rotary motion of the 6th spur gear causes second knuckle rack with respect to
One finger joint rack distal end is counted on one's fingers movement.
When the mechanical transmission course that finger is made when exhibition refers to movement is, micromotor counterclockwise revolution is subtracted by miniature
Fast device slows down, and the output diameter of axle of miniature reducer drives first bevel gear around its axis turning anticlockwise, with first bevel gear phase
The second bevel gear of engagement is made to turn round clockwise, the first spur gear be located at first knuckle left side synchronized with second bevel gear it is suitable
Hour hands revolution；The second spur gear engaged with the first spur gear is located on the left of first knuckle and empty set is on the second axis, as
Idle pulley turning anticlockwise on the second axis；The third spur gear engaged with the second spur gear is located on the left of first knuckle and empty set exists
On third axis, make to turn round clockwise on third axis as idle pulley；The 4th spur gear engaged with third spur gear is located at
It on the left of second knuckle and is fixedly connected on the 4th axis, makees counterclockwise to turn round in company with the 4th axis；7th spur gear is located at the
It is fixedly connected on the right side of two finger joints and with the 4th axis, with the 4th axis turning anticlockwise；8th spur gear is located at the right side of first knuckle
And empty set is on third axis, by engaging with the 7th spur gear, makees to turn round clockwise on third axis；9th spur gear
On the right side of the first knuckle, which is fixedly connected with finger pedestal, due to being engaged with the 8th spur gear, finger first knuckle
It then generates the exhibition around the second axis namely the first joint and refers to movement；5th spur gear is located on the right side of second knuckle and fixes with the 5th axis
Connection, the 5th spur gear are engaged with the 4th spur gear, and the 5th axis is made to make rotary motion clockwise, and the 6th spur gear is located at second
On the right side of finger joint, and it is fixedly connected with the 5th axis, thus the 6th spur gear also makees rotary motion clockwise；On the right side of first knuckle rack
End is machined with the gear teeth and is meshed with the 6th spur gear, and the rotary motion of the 6th spur gear causes second knuckle rack with respect to
Make exhibition and refer to movement in one finger joint rack distal end.
After the introduction of above-mentioned artificial limb finger mechanical drive train shows that mechanical drive train drives to the 4th spur gear, movement point
Solution is two branches, wherein the movement of a branch realization second joint, the movement in another the first joint of branch realization, two
The movement in joint is coupling, forms drive lacking motion mode.
Technological merit and technical effect of the invention is embodied in:
Artificial limb finger is modular construction, and artificial limb finger by finger pedestal is installed on artificial limb palmar hand or from artificial limb palm
Portion removes, this all brings great convenience to the manufacture and maintenance of prosthetic hand.
By the Kinematic Decomposition principle of train, counting on one's fingers and open up and referring to movement, mechanism for first knuckle and second knuckle is realized
Simply, movement relation determines.
Each finger only needs a micromotor driving, realizes drive lacking mode.And the movement of each finger is independent
's.
The thickness of artificial limb palm need to only be slightly larger than micromotor diameter, in all current prosthetic hands, the artificial limb
The palm of hand is most thin.
Detailed description of the invention
Fig. 1 artificial limb finger mechanical drive principle figure；
Fig. 2 artificial limb finger is counted on one's fingers posture schematic diagram；
The exhibition of Fig. 3 artificial limb finger refers to posture schematic diagram.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
A kind of train formula under-actuated bionic artificial limb finger provided by the invention as shown in Figure 1, finger by finger ontology and hand
Refer to that mechanical drive train is constituted；The group of finger ontology becomes, and first knuckle rack 13 is connected to finger pedestal 3 by the second axis 9
Distally, and rotary motion can be made around the second axis 9, forms the first joint of finger, first knuckle shell 10 passes through the second axis 9 and third
Axis 11 is connected to first knuckle rack 13, and fixed relative to first knuckle rack 13；Second knuckle rack 19 passes through the
Four axis 15 are connected to the distal end of first knuckle rack 13, and can make rotary motion, shape relative to the distal end of first knuckle rack 13
At finger second joint, second knuckle shell 16 is connected to second knuckle rack 19, and phase by the 4th axis 15 and the 5th axis 18
It is fixed for second knuckle rack 19；Third knuckle 22 is connected to second knuckle by the first pin 20 and the second pin 21
Rack 19, and it is fixed relative to second knuckle rack 19.
The group of finger movement transmission chain becomes, and first bevel gear 28 is set in micro speed reducing by its D-section centre bore
On the D-section output axle journal of device 2, the rotary motion that miniature reducer 2 exports axle journal can drive first bevel gear 28 same with it
Step rotation；Second bevel gear 4 is set on the side D-section axle journal of first axle 5 by its D-section centre bore, and first
Axis 5 is installed in a hole of finger pedestal 3, and can be turned round in hole, first axle 5 perpendicular to miniature reducer 2 output shaft,
Second bevel gear 4 is meshed with first bevel gear 28, and the first spur gear 7 is connected to first axle 5 separately by its D-section centre bore
On the D-section axle journal of one end, the side that first axle 5 installs the first spur gear 7 is equipped with elastic collar 6 to realize the first spur gear
7 axially position；Second axis 9 sequentially pass through from left to right the left plate proximal end bore of first knuckle shell 10, the second spur gear 8,
3 inner hole of finger pedestal, the proximal end bore of first knuckle rack 13,27 centre bore of the 9th spur gear and first knuckle shell 10 right side
Plate proximal end bore, it is dynamic cooperation with other parts passed through that the second axis 9 and 3 inner hole of finger pedestal, which are interference fit, and second is straight
Gear 8 is meshed with the first spur gear 7；The periphery of 9th spur gear, 27 wheel hub is D-section, which is connected to finger pedestal
In the inner hole of a 3 tool D-section, thus, the 9th spur gear 27 is fixed relative to finger pedestal 3；Third axis
11 left plate remote stomidium, the third spur gears 12, first knuckle rack 13 for sequentially passing through first knuckle shell 10 from left to right
The right side plate remote stomidium of interstitial hole, the 8th spur gear 26 and first knuckle shell 10, third axis 11 and first knuckle rack 13
Interstitial hole is interference fit, is dynamic cooperation with other parts that it is passed through, and third spur gear 12 is meshed with the second spur gear 8,
8th spur gear 26 is meshed with the 9th spur gear 27；4th axis 15 sequentially passes through the left side of second knuckle shell 16 from left to right
Plate proximal end bore, 14 centre bore of the 4th spur gear, the remote stomidium of first knuckle rack 13, the proximal end bore of second knuckle rack 19,
The right side plate proximal end bore of seven spur gears, 25 centre bore and second knuckle shell 16,15 periphery of the 4th axis are D-section, the 4th straight-tooth
Taking turns 14 centre bores is D-section hole, and 25 centre bore of the 7th spur gear is D-section hole, thus the 4th spur gear 14 and the 7th is straight
Gear 25 can only synchronous revolving, the 4th axis 15 is dynamic cooperation with other parts passed through；5th axis 18 sequentially passes through from left to right
Left plate remote stomidium, 17 centre bore of the 5th spur gear, 19 interstitial hole of second knuckle rack, the 6th straight-tooth of second knuckle shell 16
The right side plate remote stomidium of 23 centre bores, spacer 24 and second knuckle shell 16 is taken turns, 18 periphery of the 5th axis is D-section, and the 5th is straight
17 centre bore of gear is D-section hole, and 23 centre bore of the 6th spur gear is D-section hole, thus the 5th spur gear 17 and the 6th
Spur gear 23 can only synchronous revolving, the axially position of the 6th spur gear 23 of realization of spacer 24, the 5th axis 18 and other zero passed through
Part is dynamic cooperation；First pin 20 sequentially passes through 22 left proximal hole of third knuckle, 19 proximal end of second knuckle rack from left to right
Pin hole, 22 right proximal hole of third knuckle, the second pin 21 sequentially pass through 22 left distal hole of third knuckle, from left to right
Two finger joint racks, 19 distal end pin hole, 22 far right end hole of third knuckle, the part that the first pin 20 is passed through with it is interference
Cooperation, the part that the second pin 21 is passed through with it is also interference fit, thus third knuckle 22 is relative to second knuckle rack
19 be fixed.
Mechanical transmission course when finger, which is counted on one's fingers, to be moved are as follows: micromotor 1 turns round clockwise, is subtracted by miniature
Fast device 2 slows down, and the output diameter of axle of miniature reducer 2 drives first bevel gear 28 to turn round around its axis both clockwise, with the first cone tooth
The second bevel gear 4 that wheel 28 is meshed is made counterclockwise to turn round, and the first spur gear 7 is located at the left plate of first knuckle shell 10
It is interior to synchronize turning anticlockwise with second bevel gear 4；The second spur gear 8 engaged with the first spur gear 7 is located at first knuckle shell
In 10 left plate and empty set is on the second axis 9, turns round clockwise on the second axis 9 as idle pulley；It is engaged with the second spur gear 8
Third spur gear 12 be located in the left plate of first knuckle shell 10 and empty set is on third axis 11, as idle pulley in third axis
Make counterclockwise to turn round on 11；The 4th spur gear 14 engaged with third spur gear 12 is located at the left side of second knuckle shell 16
It in plate and is fixedly connected on the 4th axis 15, makees to turn round clockwise in company with the 4th axis 15；7th spur gear 25 is located at second
It is fixedly connected in the right side plate of finger joint shell 16 and with the 4th axis 15, with the 4th revolution clockwise of axis 15；8th spur gear 26
In in the right side plate of first knuckle shell 10 and empty set is on third axis 11, by being engaged with the 7th spur gear 25, in third
Make counterclockwise to turn round on axis 11；9th spur gear 27 is located in the right side plate of first knuckle shell 10, the gear and finger
Pedestal 3 is fixedly connected, and due to engaging with the 8th spur gear 26, first knuckle rack 13 then generated around the second axis 9 namely first
The movement of counting on one's fingers in joint；5th spur gear 17 is located in the right side plate of second knuckle shell 16 and is fixedly connected with the 5th axis 18,
5th spur gear 17 is engaged with the 4th spur gear 14, and the 5th axis 18 is made to make turning anticlockwise movement, and the 6th spur gear 23 is located at
In the right side plate of second knuckle shell 16, and it is fixedly connected with the 5th axis 18, thus the 6th spur gear 23 also makees turning anticlockwise
Movement；13 right-hand end of first knuckle rack is machined with the gear teeth and is meshed with the 6th spur gear 23, and the 6th spur gear 23 returns
Transhipment is dynamic to cause second knuckle rack 19 distally to be counted on one's fingers movement with respect to first knuckle rack 13；Fig. 2 is that artificial limb finger is counted on one's fingers appearance
State schematic diagram.
Mechanical transmission course when finger work exhibition refers to movement is that micromotor 1 counterclockwise turns round, and is subtracted by miniature
Fast device 2 slows down, and the output diameter of axle of miniature reducer 2 drives first bevel gear 28 around its axis turning anticlockwise, with the first cone tooth
The second bevel gear 4 that wheel 28 is meshed is made to turn round clockwise, and the first spur gear 7 is located at the left plate of first knuckle shell 10
It is interior to synchronize revolution clockwise with second bevel gear 4；The second spur gear 8 engaged with the first spur gear 7 is located at first knuckle shell
In 10 left plate and empty set is on the second axis 9, as idle pulley on the second axis 9 turning anticlockwise；It is nibbled with the second spur gear 8
The third spur gear 12 of conjunction is located in the left plate of first knuckle shell 10 and empty set is on third axis 11, as idle pulley in third
Make to turn round clockwise on axis 11；The 4th spur gear 14 engaged with third spur gear 12 is located at 16 left side of second knuckle shell
It in plate and is fixedly connected on the 4th axis 15, makees counterclockwise to turn round in company with the 4th axis 15；7th spur gear 25 is located at second
It is fixedly connected in the right side plate of finger joint shell 16 and with the 4th axis 15, with 15 turning anticlockwise of the 4th axis；8th spur gear 26
In in the right side plate of first knuckle shell 10 and empty set is on third axis 9, by being engaged with the 7th spur gear 25, in third axis
Make to turn round clockwise on 11；9th spur gear 27 is located in the right side plate of first knuckle shell 10, the gear and finger base
Frame 3 is fixedly connected, and due to engaging with the 8th spur gear 26, first knuckle rack 13 is then generated closes around the second axis 9 namely first
The exhibition of section refers to movement；5th spur gear 17 is located in the right side plate of second knuckle shell 16 and is fixedly connected with the 5th axis 18, the
Five spur gears 17 are engaged with the 4th spur gear 14, and the 5th axis 18 is made to make rotary motion clockwise, and the 6th spur gear 23 is located at second
In the right side plate of finger joint shell 16, and it is fixedly connected with the 5th axis 18, thus the 6th spur gear 23 also makees rotary motion clockwise；
13 right-hand end of first knuckle rack is machined with the gear teeth and is meshed with the 6th spur gear 23, the rotary motion of the 6th spur gear 23
Cause second knuckle rack 19 distally to make exhibition with respect to first knuckle rack 13 and refers to movement；Fig. 3 is that the exhibition of artificial limb finger refers to that posture is illustrated
Figure.
Claims (5)
1. a kind of train formula under-actuated bionic artificial limb finger, finger are made of finger ontology and finger mechanical drive train, feature
Be: finger ontology includes finger pedestal, first knuckle rack, first knuckle shell, second knuckle rack, second from the near to the distant
Finger joint shell, third knuckle；First knuckle rack is by the second axis connection in finger pedestal distal end；First knuckle shell passes through the
Two axis and third axis connection are in first knuckle rack；Second knuckle rack by the 4th axis connection in first knuckle rack distal end,
Second knuckle shell is by the 4th axis and the 5th axis connection in second knuckle rack；Third knuckle passes through the first pin and the second pin
Nail is connected to second knuckle rack；
Finger movement transmission chain includes micromotor, miniature reducer, first bevel gear, second bevel gear, the first spur gear,
Two spur gears, third spur gear, the 4th spur gear, the 5th spur gear, the 6th spur gear, the 7th spur gear, the 8th spur gear and
9th spur gear；Micromotor and miniature reducer are connected to finger pedestal by interference connection type, and are located at the palm centre of the palm
Position；First bevel gear is fixedly connected on the output axle journal of miniature reducer, and miniature reducer exports the rotary motion of axle journal
Drive first bevel gear with its synchronous rotation；Second bevel gear is fixedly connected on an end-journal of first axle, and first axle is pacified
It in a hole loaded on finger pedestal, and can be turned round in hole, output shaft of the first axle perpendicular to miniature reducer, the second cone tooth
Wheel is meshed with first bevel gear, and the first spur gear is fixedly connected on another end-journal of first axle, and first axle installation first is straight
One end of gear is equipped with elastic collar to realize the axially position of spur gear；Second axis sequentially passes through first knuckle from left to right
The left plate proximal end bore of shell, the second spur gear centre bore, finger pedestal inner hole, first knuckle rack proximal end bore, the 9th straight-tooth
The right side plate proximal end bore of centre bore and first knuckle shell is taken turns, the second axis and finger pedestal inner hole are interference fit, are worn with other
The part crossed is dynamic cooperation, and the second spur gear is meshed with the first spur gear；9th spur gear wheel hub and finger pedestal
One inner hole is fixedly connected；Third axis sequentially passes through the left plate remote stomidium of first knuckle shell, third spur gear from left to right
Centre bore, first knuckle rack interstitial hole, the 8th spur gear centre bore and first knuckle shell right side plate remote stomidium, third axis
It is interference fit with first knuckle rack interstitial hole, is dynamic cooperation with other parts that it is passed through, third spur gear and second is directly
Gear is meshed, and the 8th spur gear is meshed with the 9th spur gear；4th axis sequentially passes through second knuckle shell from left to right
Left plate proximal end bore, the 4th spur gear centre bore, first knuckle rack remote stomidium, second knuckle rack proximal end bore, the 7th straight-tooth
The right proximal hole of centre bore and second knuckle shell is taken turns, the 4th axis is fixed in radial direction with the 4th spur gear and the 7th spur gear
Connection, the 4th axis and other parts passed through are dynamic cooperation；5th axis sequentially passes through a left side for second knuckle shell from left to right
Side plate remote stomidium, the 5th spur gear centre bore, second knuckle rack interstitial hole, the 6th spur gear centre bore, spacer centre bore and
The far right end hole of second knuckle shell, the 5th axis are fixedly connected with the 5th spur gear and the 6th spur gear radially, the
Five axis and other parts passed through are dynamic cooperation；First pin sequentially passes through third knuckle left proximal hole, second from left to right
Finger joint rack proximal end pin hole, third knuckle right proximal hole, the second pin sequentially pass through remote on the left of third knuckle from left to right
Stomidium, second knuckle rack distal end pin hole, third knuckle far right end hole, the part that the first pin is passed through with it is interference
Cooperation, the part that the second pin is passed through with it are also interference fit.
2. train formula under-actuated bionic artificial limb finger according to claim 1, it is characterised in that: the first bevel gear center
Hole is designed as D-section centre bore, is set on the D-section output axle journal of miniature reducer, realizes being fixedly connected for the two；
Second bevel gear centre bore is to be designed as D-section centre bore, is set on the axle journal of the D-section of the side of first axle, real
Now it is fixedly connected with first axle；First spur gear centre bore is designed as D-section centre bore, is set in the first axle other side
On the axle journal of D-section, realization is fixedly connected with first axle.
3. train formula under-actuated bionic artificial limb finger according to claim 1, it is characterised in that: the 9th spur gear wheel hub
Periphery be D-section, which is inserted in the hole of tool D-section of finger pedestal, and that both realizes is fixedly connected.
4. train formula under-actuated bionic artificial limb finger according to claim 1, it is characterised in that: the 4th axis periphery is D
Tee section, the 4th spur gear centre bore are D-section hole, and the 7th spur gear centre bore is D-section hole, the 4th spur gear and the
Seven spur gear synchronous revolvings.
5. train formula under-actuated bionic artificial limb finger according to claim 1, it is characterised in that: the 5th axis periphery is D
Tee section, the 5th spur gear centre bore are D-section hole, and the 6th spur gear centre bore is D-section hole, the 5th spur gear and the
Six spur gear synchronous revolvings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057051.0A CN109674562B (en) | 2019-01-22 | 2019-01-22 | Gear train type under-actuated bionic artificial finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057051.0A CN109674562B (en) | 2019-01-22 | 2019-01-22 | Gear train type under-actuated bionic artificial finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109674562A true CN109674562A (en) | 2019-04-26 |
| CN109674562B CN109674562B (en) | 2024-03-12 |
Family
ID=66192649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910057051.0A Active CN109674562B (en) | 2019-01-22 | 2019-01-22 | Gear train type under-actuated bionic artificial finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109674562B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| KR20090041474A (en) * | 2007-10-24 | 2009-04-29 | 호서대학교 산학협력단 | Robot finger and robot hand having the same |
| CN201861802U (en) * | 2010-12-02 | 2011-06-15 | 王博成 | Five-degree-of-freedom artificial hand |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
| CN106618813A (en) * | 2015-11-04 | 2017-05-10 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN108272537A (en) * | 2018-03-25 | 2018-07-13 | 唐山云时代网络科技有限公司 | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand |
| CN109172060A (en) * | 2018-09-10 | 2019-01-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of prosthetic hand of upper extremity prosthesis |
| CN209933081U (en) * | 2019-01-22 | 2020-01-14 | 王宇光 | Wheel train type under-actuated bionic artificial finger |
-
2019
- 2019-01-22 CN CN201910057051.0A patent/CN109674562B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1410234A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Robot anthropomorphic multi finger band device |
| KR20090041474A (en) * | 2007-10-24 | 2009-04-29 | 호서대학교 산학협력단 | Robot finger and robot hand having the same |
| CN201861802U (en) * | 2010-12-02 | 2011-06-15 | 王博成 | Five-degree-of-freedom artificial hand |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
| CN106618813A (en) * | 2015-11-04 | 2017-05-10 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN107932541A (en) * | 2017-12-26 | 2018-04-20 | 上海哲谦应用科技有限公司 | A kind of drive lacking humanoid dextrous hand by micromachine drive control |
| CN108272537A (en) * | 2018-03-25 | 2018-07-13 | 唐山云时代网络科技有限公司 | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand |
| CN109172060A (en) * | 2018-09-10 | 2019-01-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of prosthetic hand of upper extremity prosthesis |
| CN209933081U (en) * | 2019-01-22 | 2020-01-14 | 王宇光 | Wheel train type under-actuated bionic artificial finger |
Non-Patent Citations (2)
| Title |
|---|
| 朱健;袁昌松;朱向阳;: "新型欠驱动拟人假肢手指的设计与分析", 机械设计与研究, no. 02 * |
| 茅一春;朱向阳;李顺冲;扬飞鸿;: "一种新型欠驱动拟人机械手的设计", 机械设计与研究, no. 03 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109674562B (en) | 2024-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108272537A (en) | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand | |
| JP6712332B2 (en) | Prosthetic hand | |
| CN208741215U (en) | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand | |
| CN101721290B (en) | Exoskeleton type finger motion function rehabilitation robot | |
| CN109758275A (en) | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger | |
| CN203598078U (en) | Module type human-imitated artificial finger | |
| CN201572217U (en) | Human-simulated artificial hand used for rehabilitation | |
| CN104367405B (en) | A kind of apery myoelectricity artificial hand | |
| CN201861802U (en) | Five-degree-of-freedom artificial hand | |
| CN103690279A (en) | Under-actuated prosthetic hand system based on planetary gear trains | |
| EP2523636A1 (en) | Modular human hand prosthesis with modular, mechanically independent finger modules | |
| CN209827112U (en) | Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger | |
| CN103356312A (en) | Six degrees of freedom artificial limb arm driven by electromyographic signal | |
| CN111110408B (en) | Finger knuckle, finger and palm structure of human imitation | |
| CN110151494B (en) | Multi-drive modularized exoskeleton mechanism | |
| CN104875215A (en) | Two-degree-of-freedom wrist simulating device | |
| CN209933081U (en) | Wheel train type under-actuated bionic artificial finger | |
| CN109674562A (en) | Train formula under-actuated bionic artificial limb finger | |
| CN102525693A (en) | Steering engine driving type shoulder disarticulation type upper prosthesis | |
| CN209933083U (en) | Wearable elastic rigid composite rod artificial limb finger | |
| CN209933079U (en) | Longitudinal worm gear self-locking type single-degree-of-freedom prosthetic hand | |
| Nasser et al. | Design of an anthropomorphic underactuated hand prosthesis with passive-adaptive grasping capabilities | |
| CN110538015A (en) | Mechanical artificial limb arm | |
| CN211067797U (en) | Multi-drive modular exoskeleton mechanism | |
| CN209933084U (en) | Worm wheel self-locking type single-degree-of-freedom artificial hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |