CN109875732B - Worm wheel self-locking single-degree-of-freedom artificial hand - Google Patents
Worm wheel self-locking single-degree-of-freedom artificial hand Download PDFInfo
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- CN109875732B CN109875732B CN201910278413.9A CN201910278413A CN109875732B CN 109875732 B CN109875732 B CN 109875732B CN 201910278413 A CN201910278413 A CN 201910278413A CN 109875732 B CN109875732 B CN 109875732B
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- 230000009347 mechanical transmission Effects 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 210000003811 finger Anatomy 0.000 claims description 45
- 210000003813 thumb Anatomy 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 210000000707 wrist Anatomy 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Abstract
The invention discloses a worm wheel self-locking type single-degree-of-freedom prosthetic hand. The artificial hand consists of three-stage mechanical transmission and four-bar mechanisms; the first stage adopts three spur gears, the second spur gear is an idler gear, the second stage adopts worm and worm wheel transmission, and the third stage adopts two spur gears; the worm and the worm wheel are in intermediate-stage transmission, so that the large stress and high rotation speed of the worm wheel are avoided, and the abrasion of the worm wheel is effectively reduced; the driving motor is arranged in the cavity of the frame, and the axis of the driving motor is perpendicular to the movement axis of the index finger rod piece, so that the size of the prosthetic hand, particularly the size of the joint of the wrist, is reduced; the single-degree-of-freedom prosthetic hand has the advantages of few mechanical parts, simple structure, light weight and reliable mechanical self-locking.
Description
Technical Field
The invention belongs to the field of medical rehabilitation instruments, and particularly relates to a worm wheel self-locking type single-degree-of-freedom prosthetic hand.
Background
Prosthetic hands are mounted on the disabled's stumps for performing certain functions of the human hand. In recent years, a plurality of patent documents are available for the prosthetic hand with multiple degrees of freedom, but the invention for the prosthetic hand with single degree of freedom is very few, however, the prosthetic hand with single degree of freedom is still a mainstream product in the market at present due to the advantages of simple structure, low price, large clamping force and the like. In application, a single degree of freedom prosthetic hand structure of OttoBock is almost adopted. The artificial hand is driven by a direct current motor, and the thumb and the opposite index finger are driven to perform clamping movement through three-stage speed reduction. The first-stage speed reduction adopts a friction type planetary speed reducer, a planetary gear is replaced by three miniature deep groove bearings sleeved on three planetary gear supporting shafts on a planetary tie rod, the three miniature deep groove bearings are pressed inwards on an output shaft neck of a motor and are rubbed outwards with the inner wall of a steel ring serving as a sun gear, and two toggle pin shafts on the tie rod output motion. The second and third level of speed reduction adopts external meshing cylindrical gear transmission. Because the prosthetic hand is powered by a lithium battery, the battery capacity is limited, and the electric locking mode of a stepping motor or a servo motor is not adopted, but a mechanical locking mode is adopted. The mechanical locking mode is special, a miniature cylindrical gear is machined on the output shaft of the first-stage speed reducer, and two sides of the periphery of the cylindrical gear are respectively meshed with two shifting sheets with a rack function. The plectrum is oval form sheet steel, and the plectrum middle part is processed along major axis direction has the rectangular hole of taking the fillet, and two long limits in rectangular hole all are processed the teeth of a cogwheel, are equivalent to two racks, and every moment, have one and the output shaft gear engagement of two racks, processing has symmetrical spout on the periphery of plectrum, and two output toggle pin axles of planetary tie rod insert in two spouts on every plectrum. When the motor rotates to enable the tie rod to conduct speed reduction rotation, the two toggle pin shafts of the tie rod drive the two poking sheets to conduct synchronous rotation, racks on opposite faces of the two poking sheets clamp the output shaft gear to drive the gear to conduct synchronous rotation, and then the motion of the prosthetic hand is achieved through the speed reduction of the latter two stages. When the motor is static, the finger loosens due to the counter force of the clamping object and the weight of the clamping object, so that the planetary reducer output gear rotates in the corresponding direction, the two poking sheets meshed with the planetary reducer output gear move in the radial direction along the two poking pin shafts of the tie rod, the outer peripheral surfaces of the two poking sheets are tightly pressed with the inner surface of the brake ring, circumferential friction moment is generated, the opening of the finger and the sliding movement of the object are prevented, and the mechanical self-locking effect is achieved. The dimensions of each part of the tie rod and the two poking sheets are tiny and exquisite.
However, the classical single degree of freedom prosthetic hand at present has the following defects in practical use:
(1) Because the area of the outer peripheral surface of the poking piece is small, the friction moment between the poking piece and the brake ring is also small, the self-locking function is poor, and the phenomena of loosening of fingers and sagging of objects often occur.
(2) Because the relative radial movement of the plectrum is required for realizing friction braking and exiting the braking state of the plectrum and the braking ring, the shake during finger movement is often generated.
Disclosure of Invention
The invention aims to overcome the defects in the prior single-degree-of-freedom prosthetic hand product and the patent technology and provides a single-degree-of-freedom prosthetic hand structure which is simple in structure, reliable in self-locking and light in weight.
The invention is realized by the following technical scheme:
hereinafter, a hole of a certain part near the wrist is referred to as a proximal hole, a hole away from the wrist is referred to as a distal hole, and a hole between the two holes is referred to as an intermediate hole; the worm wheel self-locking type single-degree-of-freedom prosthetic hand consists of a three-stage mechanical transmission and a finger knuckle four-bar mechanism; the prosthetic hand shell consists of a frame and a side cover, and the side cover is connected to the frame through a side cover screw; the artificial hand is driven by a direct current motor, the motor is connected to a connecting plate through a motor screw, the shaft diameter of the motor extends out from the other side of the connecting plate, a first straight gear is fixed on the shaft diameter of an output shaft of the motor, an idler shaft sleeve is sleeved on a central shaft of an idler bracket in a movable fit manner, a second straight gear is sleeved on the idler shaft sleeve in a tight fit manner, so that the second straight gear can rotate around the central shaft of the idler bracket, the idler bracket is connected to the connecting plate through a bracket screw, the second straight gear is meshed with the first straight gear, a third straight gear is sleeved on the shaft diameter of a D-shaped section of a worm through a D-shaped central hole, a first elastic clamping ring is sleeved in a groove of the shaft diameter of the worm in a tight fit manner, the third straight gear is axially positioned, the third straight gear is meshed with the second straight gear, the second straight gear plays a role of an idler, and the first straight gear, the second straight gear and the third straight gear form the first-stage mechanical transmission of the artificial hand; the outer cylinder part of the front end support of the worm is inserted into the round hole of the connecting plate, the front end shaft sleeve of the worm with a flange is arranged in the center hole of the front end support of the worm, the front end journal of the worm passes through the center hole of the front end shaft sleeve of the worm, the front end shaft sleeve of the worm plays a role in radial and axial restraint on the front end of the worm, the worm can rotate around the center hole of the front end shaft sleeve of the worm, the rear end journal of the worm passes through the center hole of the rear end shaft sleeve of the worm with a flange, the rear end shaft sleeve of the worm is tightly connected in the center hole of the rear end support of the worm, the rear end support of the worm is connected on the frame through a countersunk screw, the connecting plate is connected on the frame through a screw of the connecting plate, the front end shaft sleeve of the worm with a flange is tightly inserted in one hole of the side cover, the rear end shaft sleeve of the worm wheel with the flange is tightly matched and inserted into a hole of the frame, the two holes are coaxial, one end journal of the fourth straight gear shaft is inserted into the central hole of the front end shaft sleeve of the worm wheel in a movable fit manner, the other end journal of the fourth straight gear shaft is inserted into the central hole of the rear end shaft sleeve of the worm wheel in a movable fit manner, the worm wheel is sleeved on the D-shaped section shaft of the fourth straight gear shaft through the D-shaped central hole of the worm wheel, one shoulder on the fourth straight gear shaft axially positions one direction of the worm wheel, the second elastic clamping ring is tightly matched and sleeved in one groove of the fourth straight gear shaft, the second elastic clamping ring axially positions the worm wheel in the other direction, the worm wheel is meshed with the worm, and the worm wheel form second-stage mechanical transmission of the prosthetic hand; the index finger pin shaft is fixedly connected between the frame and the side cover through an index finger pin shaft screw, the fifth straight gear is a sector gear, a near end hole of the fifth straight gear is sleeved on the index finger pin shaft in a movable fit manner and can rotate around the index finger pin shaft, the fifth straight gear is meshed with a straight gear part on the fourth straight gear shaft, and the fifth straight gear and the fourth straight gear form third-stage mechanical transmission of the prosthetic hand; the middle hole of the thumb base rod is sleeved on the thumb pin shaft in a movable fit manner, the near end hole of the thumb rod is sleeved on the thumb outer swinging pin shaft in a movable fit manner, the outward swinging gesture of the thumb rod can be realized by pulling of a healthy hand, the base rod pin shaft is in a movable fit manner and is connected to the near end hole of the thumb base rod in a movable fit manner, one end hole of the connecting rod is sleeved on the base rod pin shaft diameter, the other end hole of the connecting rod is sleeved on the connecting rod pin shaft in a movable fit manner, and the index finger rod, the connecting rod, the base rod and the frame form a four-rod mechanism; the prosthetic hand converts forward and reverse rotation of a motor into opening and closing motions of an index finger and a thumb through three-stage mechanical transmission and a four-bar mechanism; when the motor does not rotate, the worm and worm wheel mechanism plays a role in mechanical self-locking, so that objects are prevented from sliding off; the motor is arranged in the cavity of the frame, and the axis of the motor is vertical to the motion axis of the index finger rod piece.
The invention has the following technical advantages:
(1) Because worm and worm wheel transmission is adopted, the single-degree-of-freedom prosthetic hand has very reliable mechanical self-locking capability, looseness and sliding of the held object during finger holding can not be generated, and motion shake of prosthetic fingers can not be generated.
(2) In the mechanical transmission of the single-degree-of-freedom prosthetic hand, the worm and worm wheel transmission is in a medium-speed stage, so that high-speed relative motion between the worm and the worm wheel is avoided, and as the worm and worm wheel transmission is not in the last stage, the meshing force born by the worm and the worm wheel is smaller, the abrasion of the worm wheel is greatly reduced, and the single-degree-of-freedom prosthetic hand can be used for a long time without maintenance.
(3) The idler wheel is adopted to transmit motion in the first-stage mechanical transmission, so that the size of the first-stage mechanical transmission is greatly reduced.
(4) The driving motor is arranged in the cavity of the prosthetic hand frame, the axis of the motor is vertical to the motion axis of the index finger rod piece, and the size of the prosthetic hand wrist is greatly reduced.
(5) Compared with the traditional single-degree-of-freedom prosthetic hand, the worm wheel self-locking single-degree-of-freedom prosthetic hand has the advantages of being simple in structure, small in size and light in weight.
Drawings
FIG. 1 is a schematic view of a first stage mechanical transmission of a worm gear self-locking single degree of freedom prosthetic hand;
FIG. 2 is a schematic diagram of a second stage mechanical transmission of the worm gear self-locking single degree of freedom prosthetic hand;
FIG. 3 is a schematic view of a third stage mechanical transmission and four bar mechanism of a worm gear self-locking single degree of freedom prosthetic hand;
figure 4 is a mechanical block diagram of a worm self-locking single degree of freedom prosthetic hand machine.
Wherein:
1. the rear end bracket 2 of the worm, the rear end shaft sleeve 3 of the worm, the worm 4 of the worm and the front end shaft sleeve of the worm
5. Worm front end bracket 6, third spur gear 7, first elastic collar 8, idler bracket
9. Idler shaft sleeve 10, second spur gear 11, bracket screw 12, first spur gear
13. Motor screw 14, connecting plate 15, motor 16 and frame
17. The rear end of the worm wheel is sleeved with a shaft sleeve 18, a fourth straight gear shaft 19, a second elastic clamping ring
20. Worm gear 21 side cover 22 front end sleeve 23 side plate screw
24. Connecting plate screw 25, middle finger bar 26, finger spacer 27, index finger bar
28. Connecting rod 29, connecting rod pin 30, index finger pin 31, index finger pin screw
32. Thumb pin screw 33, thumb lever 34, thumb outer swing pin 35, thumb pin
36. Thumb lever 37, base lever pin 38, fifth spur gear.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The worm wheel self-locking type single-degree-of-freedom prosthetic hand consists of three-stage mechanical transmission and a finger knuckle four-bar mechanism; for clarity, fig. 1 only shows the relevant part of the first stage transmission of the prosthetic hand, the prosthetic hand is driven by a direct current motor 15, the motor 15 is connected to a connecting plate 14 through a motor screw 13, the shaft diameter of the motor 15 extends out from the other side of the connecting plate 14, a first straight gear 12 is fixed on the shaft diameter of an output shaft of the motor 15, an idler shaft sleeve 9 is sleeved on the central shaft of an idler bracket 8 in a movable fit manner, a second straight gear 10 is sleeved on the idler shaft sleeve 9 in a movable fit manner, so that the second straight gear 10 can rotate around the central shaft of the idler bracket 8, the idler bracket 8 is connected to the connecting plate 14 through a bracket screw 11, the second straight gear 10 is meshed with the first straight gear 12, a third straight gear 6 is sleeved on the shaft diameter of a D-shaped section of a worm 3 through a D-shaped central hole collar, a first elastic collar 7 is sleeved in a groove of the shaft diameter of the worm 3 in a movable fit manner, the first elastic collar 7 plays a role in axial positioning of the third straight gear 6, the third straight gear 6 is meshed with the second straight gear 10, the second straight gear 10 plays a role of idler, the idler shaft 12, the second straight gear 10 can rotate around the central shaft 10, the second straight gear 10 is meshed with the first straight gear 12, and the first stage transmission of the third straight gear 6 constitutes the first stage transmission manipulator of the prosthetic hand; the outer cylinder part of the worm front end bracket 5 is inserted into a round hole of the connecting plate 14, a worm front end shaft sleeve 4 with a flange is arranged in a center hole of the worm front end bracket 5, a front end journal of the worm 3 passes through the center hole of the worm front end shaft sleeve 4, the worm front end shaft sleeve 4 plays a role in radial and axial restraint on the front end of the worm 3, the worm 3 can rotate around the center hole of the worm front end shaft sleeve 4, a rear end journal of the worm 3 passes through the center hole of a worm rear end shaft sleeve 2 with the flange, and the worm rear end shaft sleeve 2 is tightly matched and connected in the center hole of the worm rear end bracket 1; for clarity, fig. 2 shows only the part related to the second stage mechanical transmission of the prosthetic hand, the worm rear end bracket 1 is coupled to the frame 16 through a countersunk screw, the coupling plate 14 is coupled to the frame 16 through a coupling plate screw 24, the front end shaft sleeve 22 of the worm wheel with a flange is inserted into the first hole of the side cover 21 in a tight fit manner, the rear end shaft sleeve 17 of the worm wheel with a flange is inserted into the second hole of the frame 16 in a tight fit manner, the first hole and the second hole are coaxial, one end journal of the fourth straight gear shaft 18 is inserted into the center hole of the front end shaft sleeve 22 of the worm wheel, the other end journal of the fourth straight gear shaft 18 is inserted into the center hole of the rear end shaft sleeve 17 of the worm wheel, the worm wheel 20 is sleeved on the D-shaped section shaft of the fourth straight gear shaft 18 through the D-shaped center hole thereof, one shoulder on the fourth straight gear shaft 18 performs axial positioning in one direction of the worm wheel 20, the second elastic collar 19 is sleeved in one groove of the fourth straight gear shaft 18 in a tight fit manner, the second elastic collar 19 performs axial positioning in the other direction of the worm wheel 20, the worm wheel 20 meshes with the worm wheel 3 and the worm 20, thus forming the second prosthetic hand of the prosthetic hand; for clarity of expression, fig. 3 only shows the parts related to the third stage mechanical transmission and the finger four-bar mechanism of the prosthetic hand, the index finger pin shaft 30 is fixedly connected between the frame 16 and the side cover 21 through the index finger pin shaft screw 31, the fifth straight gear 38 is a sector gear, the proximal end hole of the fifth straight gear 38 is sleeved on the index finger pin shaft 30 in a movable fit manner and can rotate around the index finger pin shaft 30, the fifth straight gear 38 is meshed with the straight gear part on the fourth straight gear shaft 18, and the fifth straight gear 38 and the fourth straight gear shaft 18 form the third stage mechanical transmission of the prosthetic hand; the fifth spur gear 38, the index finger rod member 27, the proximal end holes of the finger spacer 26 and the middle finger rod member 25 are all sleeved on the index finger pin shaft 30 in a movable fit manner and can rotate around the axis of the index finger pin shaft 30, the fifth spur gear 38, the index finger rod member 27, the distal end holes of the finger spacer 26 and the middle finger rod member 25 are all sleeved on the connecting rod pin shaft 29 in a movable fit manner, the fifth spur gear 38, the index finger rod member 27, the finger spacer 26 and the middle finger rod member 25 are synchronously moved, the thumb pin shaft 35 is fixedly connected between the frame 16 and the side cover 21 through the thumb pin shaft screw 32, the middle hole of the thumb base rod 36 is sleeved on the thumb pin shaft 35 in a movable fit manner and can rotate around the thumb pin shaft 35, the proximal end hole of the thumb rod member 33 is sleeved on the thumb outer swinging pin shaft 34 in a movable fit manner, the thumb outer swinging pin shaft 34 is sleeved in the distal end hole of the thumb base rod 36, the outer swinging gesture of the thumb rod member 33 can be realized by pulling of a healthy hand, the base rod pin shaft 37 is tightly connected in the proximal end hole of the thumb base rod 36, one end hole of the connecting rod 28 is sleeved on the shaft 29, the other end hole of the connecting rod 28 is sleeved on the shaft diameter of the connecting rod shaft, the other base rod member 28 is sleeved on the other base rod 37 and the four-finger rod members 27 and the four-finger pin shaft 16 are sleeved on the frame 16, the base rod 37; the prosthetic hand converts the forward and reverse rotation of the motor 15 into the opening and closing movement of the index finger rod piece 27 and the thumb rod piece 33 through a three-stage mechanical transmission and four-bar mechanism; the motor 15 is arranged in the cavity of the frame 16, and the axis of the motor 15 is perpendicular to the motion axis of the index finger rod piece 27. Figure 4 is a mechanical block diagram of a worm self-locking single degree of freedom prosthetic hand machine.
Claims (3)
1. A worm wheel self-locking type single-degree-of-freedom prosthetic hand is characterized in that: the prosthetic hand consists of a first-stage mechanical transmission, a second-stage mechanical transmission, a third-stage mechanical transmission and a finger knuckle four-bar mechanism;
the first-stage mechanical transmission comprises a direct current motor, a first straight gear, a second straight gear and a third straight gear; the prosthetic hand shell consists of a frame and a side cover, and the side cover is connected to the frame through a side cover screw; the prosthetic hand is driven by a direct current motor, the direct current motor is connected to a connecting plate through a motor screw, a motor shaft diameter extends out from the other side of the connecting plate, a first straight gear is fixed on the motor output shaft diameter, an idler shaft sleeve is sleeved on a central shaft of an idler bracket in a movable fit manner, a second straight gear is sleeved on the idler shaft sleeve in a tight fit manner, the idler bracket is connected to the connecting plate through a bracket screw, the second straight gear is meshed with the first straight gear, a third straight gear is fixedly connected with a worm shaft neck, a first elastic clamping ring is sleeved in a groove of the worm shaft diameter in a tight fit manner, the third straight gear is meshed with the second straight gear, an outer cylindrical part of a worm front end bracket is inserted into a round hole of the connecting plate, a worm front end shaft sleeve with a flange is installed in a central hole of the worm front end bracket, the front end shaft neck of the worm passes through the central hole of the worm front end shaft sleeve, a rear end shaft neck of the worm passes through the central hole of the worm shaft sleeve with the flange, the worm rear end shaft sleeve of the worm is tightly matched and is connected in the central hole of the worm rear end bracket,
the second-stage mechanical transmission comprises a fourth straight gear, a worm and a worm wheel, wherein a rear end bracket of the worm is connected to the frame through a countersunk screw, a connecting plate is connected to the frame through a connecting plate screw, a front end sleeve of the worm wheel with a flange is inserted into a first hole of the side cover in a tight fit manner, a rear end sleeve of the worm wheel with a flange is inserted into a Kong Erzhong hole of the frame in a tight fit manner, the first hole and the second hole are coaxial, one end journal of a fourth straight gear shaft is inserted into a central hole of a front end shaft sleeve of the worm wheel in a movable fit manner, the other end journal of the fourth straight gear shaft is inserted into a central hole of a rear end shaft sleeve of the worm wheel in a movable fit manner, the worm wheel is fixedly connected to the fourth straight gear shaft, a shoulder on the fourth straight gear shaft performs axial positioning on one direction of the worm wheel, a second elastic clamping ring is sleeved in a groove of the fourth straight gear shaft in a tight fit manner, and performs axial positioning on the worm wheel in the other direction, and the worm wheel is meshed with the worm;
the third-stage mechanical transmission comprises a fifth spur gear and a fourth spur gear, wherein an index finger pin shaft is fixedly connected between the rack and the side cover through an index finger pin shaft screw, the fifth spur gear is a sector gear, a near-end hole of the fifth spur gear is sleeved on the index finger pin shaft in a movable fit manner, and the fifth spur gear is meshed with a spur gear part on the fourth spur gear shaft; the middle hole of the thumb base rod is sleeved on the thumb pin shaft in a movable fit manner, the near end hole of the thumb rod is sleeved on the thumb outer swinging pin shaft in a movable fit manner, the far end hole of the thumb base rod is connected in a movable fit manner, one end hole of the connecting rod is sleeved on the shaft diameter of the base rod pin shaft in a movable fit manner, the other end hole of the connecting rod is sleeved on the connecting rod pin shaft in a movable fit manner, and the index finger rod, the connecting rod, the thumb base rod and the frame form a four-rod mechanism.
2. The worm gear self-locking single degree of freedom prosthetic hand of claim 1, wherein: the third straight gear is assembled on the D-shaped section shaft neck of the worm shaft through the D-shaped hole in the center of the third straight gear; the worm wheel is arranged on the axle journal of the D-shaped section of the fourth gear shaft through the D-shaped center hole.
3. The worm gear self-locking single degree of freedom prosthetic hand of claim 1, wherein: the motor is arranged in the cavity of the frame, and the axis of the motor is vertical to the motion axis of the index finger rod piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278413.9A CN109875732B (en) | 2019-04-09 | 2019-04-09 | Worm wheel self-locking single-degree-of-freedom artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278413.9A CN109875732B (en) | 2019-04-09 | 2019-04-09 | Worm wheel self-locking single-degree-of-freedom artificial hand |
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| Publication Number | Publication Date |
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| CN109875732A CN109875732A (en) | 2019-06-14 |
| CN109875732B true CN109875732B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910278413.9A Active CN109875732B (en) | 2019-04-09 | 2019-04-09 | Worm wheel self-locking single-degree-of-freedom artificial hand |
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| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
| WO2017084638A1 (en) * | 2015-11-18 | 2017-05-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
| 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 |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN209933084U (en) * | 2019-04-09 | 2020-01-14 | 唐山康义合纵科技有限公司 | Worm wheel self-locking type single-degree-of-freedom artificial hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106038003B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | Artificial limb thumb |
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2019
- 2019-04-09 CN CN201910278413.9A patent/CN109875732B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
| WO2017084638A1 (en) * | 2015-11-18 | 2017-05-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
| 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 |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN209933084U (en) * | 2019-04-09 | 2020-01-14 | 唐山康义合纵科技有限公司 | Worm wheel self-locking type single-degree-of-freedom artificial hand |
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| CN109875732A (en) | 2019-06-14 |
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