CN109773814A - Servo-drive multi-joint bionic hand - Google Patents
Servo-drive multi-joint bionic hand Download PDFInfo
- Publication number
- CN109773814A CN109773814A CN201910187302.7A CN201910187302A CN109773814A CN 109773814 A CN109773814 A CN 109773814A CN 201910187302 A CN201910187302 A CN 201910187302A CN 109773814 A CN109773814 A CN 109773814A
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- China
- Prior art keywords
- joint
- section
- silica gel
- gel band
- elastic silica
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- 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.)
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Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 47
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000000741 silica gel Substances 0.000 claims abstract description 37
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 37
- 239000004677 Nylon Substances 0.000 claims abstract description 23
- 229920001778 nylon Polymers 0.000 claims abstract description 23
- 238000005452 bending Methods 0.000 claims abstract description 7
- 210000001145 finger joint Anatomy 0.000 claims description 39
- 210000003811 finger Anatomy 0.000 claims description 27
- 210000003813 thumb Anatomy 0.000 claims description 26
- 241000233788 Arecaceae Species 0.000 claims description 13
- 239000002390 adhesive tape Substances 0.000 claims description 5
- 229910052710 silicon Inorganic materials 0.000 claims description 5
- 239000010703 silicon Substances 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 11
- 230000000386 athletic effect Effects 0.000 abstract description 4
- 229960001866 silicon dioxide Drugs 0.000 description 26
- 230000000694 effects Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 230000003796 beauty Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
The technical problem to be solved by the present invention is to provide a kind of servo-drive multi-joint bionic hands.Bionic hand each section is adhesively fixed with elastic silica gel band first, every group of movable joint is driven with a nylon wire, and for each nylon wire one ends wound on each reel, the other end passes through the through-hole of bionic hand each section, is separately fixed at the end of each joint motions part.When servomotor driving reel rotation, nylon rope is collapsed, drives the elastic silica gel band bending for connecting each joint, corresponding each joint of bionic hand generates flexure operation, by the accurate control of servomotor, each joint motions can be made to specified position；When servomotor driving reel reverse rotation, nylon rope is loosened, elastic silica gel band resets, and each joint of bionic hand is driven to be restored to straight state.This servo-drive multi-joint bionic hand can replace manpower to complete various movements, also may be worn on sufferer and assist to carry out athletic rehabilitation exercise etc. on hand.
Description
Technical field
The present invention relates to a kind of servo-drive multi-joint bionic hands, drive reel using servomotor, drive nylon
Line folding and unfolding realizes flexure operation and the reset in each joint of bionic hand, simulates the various movements of manpower.
Background technique
Traditional bionic hand generallys use the movement that steering engine controls each joint, one joint of a servo driving.In the presence of
Main problem be: since the size of steering engine cannot be too small, cause the structure of bionic hand relatively complicated, design, manufacture ratio
More difficult, cost is also higher, maintenance trouble；The precision of steering engine is relatively low simultaneously, can not achieve the accurate control of bionic hand.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of servo-drive multi-joint bionic hands.First by each portion of bionic hand
Point be adhesively fixed with elastic silica gel band, every group of movable joint is driven with a nylon wire, each nylon wire one ends wound it is each around
In line wheel, the other end passes through the through-hole of bionic hand each section, is separately fixed at the end of each joint motions part.Work as servo-electric
Machine drives reel rotation, and nylon rope is collapsed, and drives the elastic silica gel band bending for connecting each joint, and corresponding bionic hand respectively closes
Section generates flexure operation, by the accurate control of servomotor, each joint motions can be made to specified position；When servo electricity
Motivation drives reel to reversely rotate, and nylon rope is loosened, and elastic silica gel band resets, and drives each joint of bionic hand to be restored to straight
State.This servo-drive multi-joint bionic hand can replace manpower to complete various movements, also may be worn on sufferer assist on hand into
Row athletic rehabilitation exercise etc..
Servo-drive multi-joint bionic hand of the invention is mainly by motor mounting plate, servomotor, reel, nylon
Rope, the centre of the palm, thumb root, thumb section, fingers and palms root, index finger section, middle finger joint, unknown finger joint, small finger joint, elastic silica gel band composition；Seven
A servomotor is fixed on motor mounting plate, and seven reels are respectively fitted in the rotation axis of seven servomotors；
Each section is bonded together at the back side of thumb section with the elastic silica gel band of suitable length, while thumb section is viscous by elastic silica gel band
It connects on thumb root, thumb root is bonded on the centre of the palm by elastic silica gel band；With elastic silica gel band in index finger section, middle finger joint, nothing
Name finger joint, small finger joint the back side each section is bonded together, while index finger section, middle finger joint, unknown finger joint, small finger joint pass through flexible silicon
On fingers and palms root, fingers and palms root is bonded on the centre of the palm adhesive tape bonding by elastic silica gel band；Seven nylon rope one end are respectively wound around
On seven reels, the other end is each passed through the through-hole of bionic hand each section, is separately fixed at thumb section end, index finger section end
End, middle finger joint end, unknown finger joint end, small finger joint end, thumb root, on fingers and palms root.
Each joint junction of bionic hand is designed as the structure of interval angles, guarantees enough bending intervals, passes through flexible silicon
Each section is bonded together by adhesive tape at the back side in each joint, and elastic silica gel band is initially straightened condition.
When servomotor driving reel rotation, nylon rope is collapsed, drives the elastic silica gel band for connecting each joint curved
Song, corresponding each joint of bionic hand generates flexure operation can be such that each joint motions arrive by the accurate control of servomotor
Specified position；When servomotor driving reel reverse rotation, nylon rope is loosened, elastic silica gel band resets, and drives imitative
Each joint of green hand is restored to straight state.This servo-drive multi-joint bionic hand can replace manpower to complete various movements, can also
Sufferer is worn on to assist to carry out athletic rehabilitation exercise etc. on hand.
Bionic hand each section can be customized by the way of 3D printing according to use occasion, can also pass through mold batch
Amount production.In view of the actual effect of application, silica-gel gloves etc. on the servo-drive multi-joint Bionic gloves assembled can be given,
It can both guarantee the beauty of design in this way, while also the surface of bionic hand can be made more flexible.
The present invention can also drive reel, band using servomotor according to the change of use condition and action request
Dynamic nylon wire folding and unfolding passes through various structures and shape on the basis of realizing the flexure operation in each joint of bionic hand and the scheme of reset
The change and combination of shape, realize diversified function and application.The present invention is the design of servo-drive multi-joint bionic hand, system
It makes, using new method and thinking is provided, there is good application value.
Detailed description of the invention
Fig. 1 is that the nylon rope of servo-drive multi-joint bionic hand of the invention collapses, and drives the flexible silicon for connecting each joint
Adhesive tape bending, corresponding each joint of bionic hand generate 3 d effect graph when flexure operation.
Fig. 2 is the 3 d effect graph at the back side of servo-drive multi-joint bionic hand of the invention.
Fig. 3 is that the nylon rope of servo-drive multi-joint bionic hand of the invention loosens, and elastic silica gel band resets, and is driven bionical
Each joint of hand is restored to 3 d effect graph when straight state.
Fig. 4 is the 3 d effect graph of a finger joint of servo-drive multi-joint bionic hand of the invention.
In figure: 1- servomotor, 2- motor mounting plate, 3- reel, 4- nylon rope, 5- thumb root, 6- thumb section,
7- fingers and palms root, 8- index finger section, 9- middle finger joint, the unknown finger joint of 10-, the small finger joint of 11-, the centre of the palm 12-, 13- elastic silica gel band.
Specific embodiment
Referring to Fig. 1,2,3,4, servo-drive multi-joint bionic hand of the invention is mainly by motor mounting plate 2, servo electricity
Motivation 1, reel 3, nylon rope 4, the centre of the palm 12, thumb root 5, thumb section 6, fingers and palms root 7, index finger section 8, middle finger joint 9, unknown finger joint
10, small finger joint 11, elastic silica gel band 13 form；Seven servomotors 1 are fixed on motor mounting plate 2, seven reels 3
It is respectively fitted in the rotation axis of seven servomotors 1；It will be each at the back side of thumb section 6 with the elastic silica gel band 13 of suitable length
Section is bonded together, while thumb section 6 is bonded on thumb root 5 by elastic silica gel band 13, and thumb root 5 passes through elastic silica gel band 13
It is bonded on the centre of the palm 12；With elastic silica gel band 13 index finger section 8, middle finger joint 9, unknown finger joint 10, small finger joint 11 the back side will be each
Section is bonded together, while index finger section 8, middle finger joint 9, unknown finger joint 10, small finger joint 11 are bonded in fingers and palms by elastic silica gel band 13
On root 7, fingers and palms root 7 is bonded on the centre of the palm 12 by elastic silica gel band 13；Seven 4 one end of nylon rope are respectively wound around seven coilings
On wheel 3, the other end is each passed through the through-hole of bionic hand each section, is separately fixed at 6 end of thumb section, 8 end of index finger section, middle finger
Save 9 ends, 10 end of unknown finger joint, 11 end of small finger joint, thumb root 5, on fingers and palms root 7.
Each joint junction of bionic hand is designed as the structure of interval angles, guarantees enough bending intervals, passes through flexible silicon
Each section is bonded together by adhesive tape 13 at the back side in each joint, and elastic silica gel band 13 is initially straightened condition.
When the driving rotation of reel 3 of servomotor 1, nylon rope 4 is collapsed, the elastic silica gel band for connecting each joint is driven
13 bendings, corresponding each joint of bionic hand, which generates flexure operation, can make each joint by the accurate control of servomotor 1
Move to specified position；When the driving reverse rotation of reel 3 of servomotor 1, nylon rope 4 is loosened, elastic silica gel band 13
It resets, each joint of bionic hand is driven to be restored to straight state.It is each that this servo-drive multi-joint bionic hand can replace manpower to complete
Kind movement also may be worn on sufferer and assist to carry out athletic rehabilitation exercise etc. on hand.
Bionic hand each section can be customized by the way of 3D printing according to use occasion, can also pass through mold batch
Amount production.In view of the actual effect of application, silica-gel gloves etc. on the servo-drive multi-joint Bionic gloves assembled can be given,
It can both guarantee the beauty of design in this way, while also the surface of bionic hand can be made more flexible.
Claims (2)
1. servo-drive multi-joint bionic hand is mainly by motor mounting plate, servomotor, reel, nylon rope, the centre of the palm, thumb
Refer to root, thumb section, fingers and palms root, index finger section, middle finger joint, unknown finger joint, small finger joint, elastic silica gel band composition；It is characterized in that: seven
Servomotor is fixed on motor mounting plate, and seven reels are respectively fitted in the rotation axis of seven servomotors；With
Each section is bonded together by the elastic silica gel band of suitable length at the back side of thumb section, while thumb section passes through flexible silicon adhesive tape bonding
On thumb root, thumb root is bonded on the centre of the palm by elastic silica gel band；With elastic silica gel band in index finger section, middle finger joint, unknown
Finger joint, small finger joint the back side each section is bonded together, while index finger section, middle finger joint, unknown finger joint, small finger joint pass through elastic silica gel
Band is bonded on fingers and palms root, and fingers and palms root is bonded on the centre of the palm by elastic silica gel band；Seven nylon rope one end are respectively wound around seven
On a reel, the other end is each passed through the through-hole of bionic hand each section, be separately fixed at thumb section end, index finger section end,
Middle finger joint end, unknown finger joint end, small finger joint end, thumb root, on fingers and palms root.
2. servo-drive multi-joint bionic hand according to claim 1, it is characterized in that each joint junction design of bionic hand
For the structure of interval angles, guarantees enough bending intervals, be bonded each section at the back side in each joint by elastic silica gel band
Come, elastic silica gel band is initially straightened condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187302.7A CN109773814A (en) | 2019-02-28 | 2019-02-28 | Servo-drive multi-joint bionic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910187302.7A CN109773814A (en) | 2019-02-28 | 2019-02-28 | Servo-drive multi-joint bionic hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773814A true CN109773814A (en) | 2019-05-21 |
Family
ID=66487781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910187302.7A Pending CN109773814A (en) | 2019-02-28 | 2019-02-28 | Servo-drive multi-joint bionic hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109773814A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271026A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot finger's kinematic system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070063523A1 (en) * | 2004-03-30 | 2007-03-22 | Harmonic Drive Systems Inc., | Finger unit and multi-finger grasping mechanism |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN103112005A (en) * | 2011-11-17 | 2013-05-22 | 财团法人精密机械研究发展中心 | Gesture type mechanical arm |
| CN103552056A (en) * | 2013-10-30 | 2014-02-05 | 重庆科技学院 | EOD (Explosive Ordnance Disposal) robot |
| CN104942818A (en) * | 2015-06-08 | 2015-09-30 | 清华大学 | Seven-freedom-degree five-finger mechanical arm |
| CN205799562U (en) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | A kind of mechanical hand moved by torque spring and servos control |
| CN209868627U (en) * | 2019-02-28 | 2019-12-31 | 重庆科技学院 | Servo-driven multi-joint bionic hand |
-
2019
- 2019-02-28 CN CN201910187302.7A patent/CN109773814A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070063523A1 (en) * | 2004-03-30 | 2007-03-22 | Harmonic Drive Systems Inc., | Finger unit and multi-finger grasping mechanism |
| CN103112005A (en) * | 2011-11-17 | 2013-05-22 | 财团法人精密机械研究发展中心 | Gesture type mechanical arm |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN103552056A (en) * | 2013-10-30 | 2014-02-05 | 重庆科技学院 | EOD (Explosive Ordnance Disposal) robot |
| CN104942818A (en) * | 2015-06-08 | 2015-09-30 | 清华大学 | Seven-freedom-degree five-finger mechanical arm |
| CN205799562U (en) * | 2016-07-05 | 2016-12-14 | 旗瀚科技有限公司 | A kind of mechanical hand moved by torque spring and servos control |
| CN209868627U (en) * | 2019-02-28 | 2019-12-31 | 重庆科技学院 | Servo-driven multi-joint bionic hand |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271026A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot finger's kinematic system |
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