CN110216700A - Flexible under-actuated bionic hand - Google Patents
Flexible under-actuated bionic hand Download PDFInfo
- Publication number
- CN110216700A CN110216700A CN201810176058.XA CN201810176058A CN110216700A CN 110216700 A CN110216700 A CN 110216700A CN 201810176058 A CN201810176058 A CN 201810176058A CN 110216700 A CN110216700 A CN 110216700A
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- Prior art keywords
- finger
- gear
- connection
- palm
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention provides a kind of flexible under-actuated bionic hand, has a palm and finger component.The flexibility under-actuated bionic hand a further include: crooked assembly, the crooked assembly are set to a first surface of the palm, for controlling the bending of the finger component；And an intermittently-driving component, the intermittently-driving component are set to a second surface of the palm, for controlling separating and closing up for each finger in the finger component；Wherein, the first surface of the palm is opposite with the second surface.
Description
Technical field
The present invention relates to a kind of manipulator in medical rehabilitation instrument field, especially a kind of flexible under-actuated bionic hand.
Background technique
The very important tool and the mankind that manpower is human body to be contacted with the external world are depended on for existence and work most multiple
Miscellaneous most fine tool.Going to the perception external world by hand is the important component in the human tactile world.Though manpower is small,
It acts but very dexterous and complicated movement can be completed.
The whole world is more than 1,000,000,000 person-times with some form of individuals with disabilities at present and disabled person's quantity is also increasing year by year
Add.Report outlines world's disabled person's situation: there are about 1/5 disabled persons to meet with significant difficulties.Hand deformed man is in Working Life
In experienced the most basic operating function of many difficulties, especially hand and cannot all reach.
Have existed some business artificial hand on the market now come the person that helps hand disability, such as Otto Bock, i-Limb is false
Hand.However, existing business artificial hand can only be accomplished similar to manpower in appearance mostly, practicability is lower.Data show, 30%~
50% hand patients with amputation is less to use its existing artificial hand.Its main cause is studied carefully, nothing more than following factor: (1) prosthetic hand
Function it is relatively simple.Current prosthetic hand only has 1~2 freedom degree mostly, and it is dynamic to can be only done simple flexion/extension
Make, unlike normal manpower can complete different grasp motions.And prosthetic hand does not have form adaptive ability (according to being grabbed
Hold the ability of the shape adjustment finger position of object) so that crawl object is relatively simple；(2) appearance of prosthetic hand is similar to manipulator.
Appearance " noticeable " makes hand amputee refuse to wear；The navigability of prosthetic hand is poor.It is not able to satisfy simple, flexible, reliable
The interactive controlling with feedback system；Existing electromyography signal (EMG) control prosthetic hand weight is bigger.EMG artificial limb is logical
Cross muscle signal control hand exercise remaining on forearm.The collection process of electromyography signal will cause the pain of wearer, acquisition
Signal discrimination it is also not high.In addition, the prosthetic hand of existing EMG control is in terms of volume and weight also without advantage.
Therefore, it is necessary to a kind of new bionic hands, to solve the above problems.
Summary of the invention
It is an object of the present invention to provide a kind of flexible under-actuated bionic hands, pass through crooked assembly and intermittently-driving group
Part realizes that openings of the five fingers is closed up, the five fingers bending and the outreach adduction etc. of thumb act, being capable of self-adapting grasping not similar shape
The object of shape and size.
To solve the above problems, the present invention provides a kind of flexible under-actuated bionic hand, there is a palm and finger component.Institute
State flexible under-actuated bionic hand further include: a crooked assembly, the crooked assembly are set to a first surface of the palm, use
In the bending for controlling the finger component；And an intermittently-driving component, the intermittently-driving component are set to the palm
One second surface, for controlling separating and closing up for each finger in the finger component；Wherein, described the first of the palm
Surface is opposite with the second surface.That is, the crooked assembly and the intermittently-driving component are respectively arranged on the hand
Positive and negative two surface of the palm.
In an embodiment of the present invention, the finger component includes a thumb, an index finger, a middle finger, a third finger and one
Little finger of toe, also, the thumb, the index finger, the middle finger, the nameless and described little finger of toe have an identical finger knot
Structure；Three grooves of distribution setting, are divided into a first knuckle, a second knuckle, one for the finger structure on the finger structure
Third knuckle and a connection finger joint；The connection finger joint is used for the index finger, the middle finger, the nameless and described little finger of toe
It is respectively connected to the palm；The connection finger joint of the thumb connects a thumb rotary shaft, and the thumb rotary shaft is rotatably
It is set on the first surface of the palm；The first knuckle, the second knuckle, the third knuckle and the company
It connects and is equipped with through hole in finger joint, so that a connecting line passes through the through hole and parallel with the central axis of the finger structure sets
It sets.
In an embodiment of the present invention, the crooked assembly includes one first crooked assembly and one second crooked assembly；Its
In, first crooked assembly includes: a first motor, and the first motor is fixedly installed on first table of the palm
Face；One first spiral sleeve, the first spiral sleeve are sheathed on an output shaft of the first motor；With a pulley blocks,
The pulley blocks include one first fixed pulley, one second fixed pulley and a movable pulley；First fixed pulley is fixedly installed on institute
It states on the first surface of palm, and the connection finger joint of the corresponding little finger of toe, second fixed pulley are fixedly installed on described
On the first surface of palm, and the connection finger joint of the corresponding third finger；Second crooked assembly includes: one second electricity
Machine, second motor is fixedly installed on the first surface of the palm, also, covers on the output shaft of second motor
If a bevel gear；With a, differential mechanism, the differential mechanism has a shell, is formed and the umbrella in the peripheral surface of the shell
The tooth socket that gear is meshed；Also, the differential mechanism also has one first output shaft and one second output shaft；Wherein, one first
Connecting line runs through the little finger of toe and the third finger by first fixed pulley and second fixed pulley；The movable pulley is set
It is placed on first connecting line between first fixed pulley and second fixed pulley, also, the movable pulley
Pass through one second connecting line and the first spiral sleeve connection；One third connecting line run through the middle finger, and with the differential
The first output axis connection of device；One the 4th connecting line runs through the index finger, and second output with the differential mechanism
Axis connection；And one the 5th connecting line run through the thumb, and in the output axis connection of second motor.
In this way, can be notified simultaneously described nameless and described by first crooked assembly being made of pulley blocks
The bending of little finger of toe；And second crooked assembly by being made of the differential mechanism then can control the thumb, the food
Refer to the bending with the middle finger.
In an embodiment of the present invention, the intermittently-driving component includes: a third motor, and the third motor fixation is set
It is placed in the second surface of the palm, and one first ring gear is set on the output shaft of the third motor；Gear set,
The gear set includes one first partial gear, one second partial gear, an intermediate gear and an at least finger tooth connection
Wheel；All gears of the gear set are rotationally arranged at the second surface of the palm；Wherein, described first is not
Complete gear is meshed with first ring gear, and second partial gear is meshed with first partial gear,
The intermediate gear is engaged with second partial gear, an at least finger connection gear at least with the intermediate gear
It is meshed；One second ring gear, second ring gear are sheathed on one end of the thumb rotary shaft, also, second hat
Gear is meshed with first partial gear.
In an embodiment of the present invention, the gear set includes three finger connection gears: an index finger connection gear, a nothing
Name refers to connection gear and a little finger of toe connection gear；Wherein, the rotation of the connection finger joint of the index finger and the index finger connection gear
Axis connection, and the index finger connection gear is meshed with second partial gear；The connection finger joint of the third finger and institute
The rotation axis connection of nameless connection gear is stated, and the nameless connection gear is meshed with the intermediate gear；It is described small
The rotation axis connection of the connection finger joint of finger and the little finger of toe connection gear, and the little finger of toe connection gear and the intermediate gear phase
Engagement.
In this way, the third motor drives first partial gear by first ring gear on its output shaft
Rotation, and then drive the second partial gear rotation.Second partial gear is further driven to the intermediate gear
It is rotated with the index finger connection gear, controls the relative position of index finger and middle finger.Meanwhile the intermediate gear drive it is described unknown
Refer to connection gear and the little finger of toe connection gear, and then controls the opposite position of nameless and the described little finger of toe and the middle finger
It sets.
In an embodiment of the present invention, the finger component is made of flexible resin.The flexible resin is common commercially available
Commodity, and it is preferably applicable to 3D forming technique.Thus in a preferred embodiment of the present invention, the finger is by flexible resin
Material is formed through 3D forming technique.
In an embodiment of the present invention, the first motor, second motor and the third motor are to be provided with
The commercially available motor of encoder.
In the flexible under-actuated bionic hand of the invention, the five fingers are realized by crooked assembly and intermittently-driving component
Open close up, the five fingers bending and the outreach adduction etc. of thumb movement, be capable of the object of self-adapting grasping different shape and size
Body.The flexible under-actuated bionic hand of the present invention has many advantages, such as light-weight, small in size, convenient processing and manufacture.
Detailed description of the invention
Fig. 1 is a kind of perspective view of flexible under-actuated bionic hand of one embodiment of the invention；
Fig. 2 is the perspective view of the finger structure of the flexible under-actuated bionic hand；
Fig. 3 is the perspective view of the thumb of the flexible under-actuated bionic hand；
Fig. 4 is the main view of the flexible under-actuated bionic hand；
Fig. 5 is the rearview of the flexible under-actuated bionic hand；
Fig. 6 is the perspective view of the differential mechanism of the flexible under-actuated bionic hand；
Fig. 7 is the sectional view of differential mechanism shown in Fig. 6；
Specific embodiment
The preferred embodiment of the present invention is introduced below with reference to Figure of description, it was demonstrated that the present invention can be implemented, the implementation
Example can keep its technology contents more clear and be easy to understand to the those of skill in the art complete description present invention.This hair
It is bright to be emerged from by many various forms of embodiments, what protection scope of the present invention was not limited only to mention in text
Embodiment.
As shown in Figure 1, flexible under-actuated bionic hand 1 a kind of in the present invention has a palm 10 and finger component 20.
The finger component 20 includes: a thumb 21, an index finger 22,23, one third finger 24 of a middle finger and a little finger of toe 25.
In the present invention, the index finger 22, middle finger 23, the third finger 24 and the finger structure 200 having the same of little finger of toe 25.
Hereinafter, the finger structure 200 is described in detail in conjunction with Fig. 2.
As shown in Figure 2, the finger structure 200 is one cylindric to simulate finger.It is distributed on the finger structure 200
Three grooves 204 are set, the finger structure 200 is divided for a first knuckle 201, a second knuckle 202, a third knuckle
203 and one connect finger joint 206.As depicted in figs. 1 and 2, the connection finger joint 206 will be for that will have the finger structure 200
The index finger 22, middle finger 23, the third finger 24 and little finger of toe 25 be connected to the palm 10.
In order to realize the bending of the finger structure 200, the finger structure 200 is made of flexible resin material.More
Preferably, the finger structure 200 is formed by flexible resin material through 3D forming technique.As shown in Figure 2, described first
Through hole 205 is equipped in finger joint 201, the second knuckle 202, the third knuckle 203 and the connection finger joint 206.This
Sample, as shown in Figure 1, connecting line 30 passes through the through hole, also, in the connecting line 30 and the finger structure 200
Mandrel is arranged in parallel.
As shown in Figure 2, for the design of better structure, the connection finger joint 206 has a groove 207, so that institute
Connection finger joint 206 is stated to be fastened on the palm 10 described in detail below by the groove 207.Also, the connection
Finger joint 210 also has a plane, and the plane extends along the central axis direction of the finger structure 200, also, described flat
A fixation hole 208 is formed on face, in a manner to be described in greater detail later can with the palm 10 by the finger structure 200
Rotationally connect.
Hereinafter, the thumb 21 is described in detail in conjunction with Fig. 3.
As shown in Figure 3, similar with the finger structure 200, the thumb 21 is also cylindric to simulate finger for one.
On the thumb 21 distribution setting three grooves 210, by the thumb 21 divide for a first knuckle 211, a second knuckle 212,
One third knuckle 211 and a connection finger joint 216.In order to realize the bending of the thumb 21, the thumb 21 is also by flexible resin
Material is made.It is further preferred that the finger thumb 21 is also formed by flexible resin material through 3D forming technique.Such as Fig. 3 institute
Show, is all provided in the first knuckle 211, the second knuckle 212, the third knuckle 213 and the connection finger joint 216
There is through hole 215.In this way, as shown in Figure 3, connecting line 30 passes through the through hole, also, the connecting line 30 and the hand
Refer to that the central axis of structure 200 is arranged in parallel.
Unlike the finger structure 200 of index finger, middle finger described in other etc., the connection finger joint of the thumb 21
216 one thumb rotary shafts 217 of connection.Preferably, as shown in Figure 3, the thumb rotary shaft 217 is inserted into the company of the thumb 21
It connects in finger joint 216, also, is arranged a crown gear 218 in the end of the thumb rotary shaft 217.In this way, making the thumb
Rotary shaft 217 is rotationally arranged on the first surface of the palm 10.
Hereinafter, the other structures of the flexible under-actuated bionic hand 1 are described in detail in conjunction with Fig. 1, Fig. 4 and Fig. 5.
As shown in Figure 1 and Figure 4, the flexibility under-actuated bionic hand 1 includes a crooked assembly, is set to the palm 10
A first surface, such as palm centre of the palm surface.As shown in Figure 4, all palm centre of the palm surfaces for being set to the palm 10
On component be both contained in the crooked assembly.In fact, being defined as the palm 10 with the surface where the crooked assembly
Centre of the palm surface.
As shown in Figure 4, the crooked assembly includes one first crooked assembly 100 and one second crooked assembly 120.Such as figure
Shown in 4, first crooked assembly 100 includes: a first motor 101, one first spiral sleeve 102 and a pulley blocks 103.
Wherein, for the first motor 101 by any of mode, the structures such as nut screw structure or fixed plate are fixed to set
It is placed in the first surface of the palm 10.The first spiral sleeve 102 is sheathed on the output shaft of the first motor 101
On.
As shown in Figure 4, the pulley blocks 103 are dynamic comprising one first fixed pulley 1031, one second fixed pulley 1032 and one
Pulley 1033.First fixed pulley 1031 is fixedly installed on the first surface of the palm 10, and correspondence is described small
Refer to 25 connection finger joint, second fixed pulley 1032 is fixedly installed on the first surface of the palm 10, and corresponding
Described nameless 24 connection finger joint.As shown in the figure, one first connecting line 31 passes through first fixed pulley 1031 and described
Second fixed pulley 1032 runs through the little finger of toe 25 and described nameless 24, and the movable pulley 1033 is then set to positioned at described the
On first connecting line 31 between one fixed pulley and second fixed pulley.Also, the movable pulley 1033 also passes through one
Second connecting line 32 is connect with the first spiral sleeve 102.
In this way, first spiral when the first motor 101 operation, on the output shaft of the first motor 101
Sleeve 102 rotates, to wind second connecting line 32 or decontrol second connecting line 32, and then described in pulling or relieving
Movable pulley 1033, and further by first connecting line 31 pull the little finger of toe 25 and it is described nameless 24 downwards inwardly it is curved
Song, or decontrol the little finger of toe 25 and described nameless 24.Thus, it is possible to by described in the first motor 101 linkage bending
Little finger of toe 25 and described nameless 24.
Please further refer to Fig. 4, second crooked assembly 120 includes: one second motor 121 and a differential mechanism 122.Institute
The second motor 121 is stated by any of mode, the structures such as nut screw structure or fixed plate are fixedly installed on described
The first surface of palm 10.A bevel gear 123 is arranged on the output shaft of second motor 121.The differential mechanism 122 is
Presently commercially available suitable components.
In order to more clearly illustrate the present invention, the structure of the differential mechanism 122 is described below in conjunction with Fig. 6 and Fig. 7.
As shown in FIG. 6, the differential mechanism 122 has shell 1221, formed in the peripheral surface of the shell 1221 with
The tooth socket 1222 that the bevel gear 123 is meshed, also, the differential mechanism 122 also has one first output shaft 1223 and one the
Two output shafts 1224.As shown in Figure 4 and Figure 6, the differential mechanism 122 is by first output shaft 1223 and described second defeated
Bearing 1227 on shaft 1224 is fixed on the of the palm 10 by the known fixed mode of such as fixed plate etc
On one surface.Fig. 7 is referred to, there are two planetary gear 1225 and two semiaxis for setting in the shell 1221 of the differential mechanism 122
Gear 1226, the star gear 1225 are meshed with the axle shaft gear 1226.When the tooth on 1221 surface of shell
When slot 1222 is driven by the bevel gear 123, the shell 1221 starts around first output shaft 1223 and described second
Output shaft 1224 rotates, and then the planetary gear 1225 inside drive rotates.And the planetary gear 1225 then drive with
Engagement the axle shaft gear 1226 so that first output shaft 1223 and second output shaft 1224 start to rotate.
Continuing with referring to fig. 4 and Fig. 6, the middle finger 23 is described by a third connecting line 33 and the differential mechanism 122
The connection of first output shaft 1223；Second output that the index finger 22 passes through one the 4th connecting line 34 and the differential mechanism 122
Axis 1224 connects.And the thumb 21 then passes through the output axis connection of one the 5th connecting line 35 and second motor 121.
In this way, by the bending or release that can control the middle finger 23 and the index finger 22 by the differential mechanism 122, and
It is rotated by the output shaft of second motor 121, then can control the bending or release of the thumb 21.
As shown in Figure 5, the flexibility under-actuated bionic hand 1 further includes an intermittently-driving component, is set to the palm
10 second surface, such as palm slap back surface.As shown in Figure 5, all palm palm back tables for being set to the palm 10
The component is both contained in the intermittently-driving component on face.In fact, with the surface definition where the intermittently-driving component
For the palm back surface of the palm 10.
As shown in Figure 5, the intermittently-driving component includes: a third motor 140 and gear set 160.As shown in the figure,
The third motor 140 is fixedly installed on institute by any of mode, the structures such as nut screw structure or fixed plate
State the second surface of palm.One first ring gear 141 is set on the output shaft of the third motor 140.
The gear set 160 includes one first partial gear 1601, one second partial gear 1602, an intermediate gear
1603 and three finger connection gears (the nameless connection gear 1605 of an index finger connection gear 1604, one and a little finger of toe tooth connections
It takes turns (unlabeled in figure)).All gears of the gear set are rotationally arranged at the second surface of the palm, example
Such as, all gears are rotationally arranged at described the of the palm in such a way that central axis is fixedly connected with the palm
On two surfaces.
As shown in Figure 5, first partial gear 1601 is meshed with first ring gear 141, and described second
Partial gear 1602 is meshed with first partial gear 1601, and the intermediate gear 1603 and described second is incomplete
Gear 1602 engages.In addition, first partial gear 1602 also be sheathed on the coronal of 217 end of thumb rotary shaft
Gear 218 is meshed.
As shown in Figure 5, the rotation axis connection of the connection finger joint of the index finger 22 and the index finger connection gear 1604, and
The index finger connection gear 1604 is meshed with second partial gear 1602.Described nameless 24 connection finger joint and institute
State the rotation axis connection of nameless connection gear 1605, and the nameless connection gear 1605 and 1603 phase of intermediate gear
Engagement.The rotation axis connection of the connection finger joint of the little finger of toe 25 and the little finger of toe connection gear (unlabeled in figure), and it is described small
Refer to that connection gear is meshed with the intermediate gear 1603.
When the third motor 140 rotates and when first partial gear 1601 and second partial gear
1602 be in the down-time period when, via the transmission effect of first partial gear 1601, make in the thumb rotary shaft 217
Crown gear gear 218 rotates, so that the thumb 21 be made to rotate.When the thumb 21 rotates to 80 ° (relative to palm) from 60 °
When, first partial gear 1601 starts to be meshed and start turning with second partial gear 1602, between described
Have a rest down-time period of transmission component terminates.In this way, the third motor 140 passes through first ring gear 141 on its output shaft
It drives first partial gear 1601 to rotate, and then second partial gear 1602 is driven to rotate.Described second is not
Complete gear 1602 is further driven to the intermediate gear 1603 and the index finger connection gear 1604 rotation, control index finger 22 with
The relative position of middle finger 23；That is, index finger 22 described in figure can by the rotation of the index finger connection gear 1604 to the left or to
Right slight oscillatory.Meanwhile the intermediate gear 1603 drives the nameless connection gear 1605 and the little finger of toe connection gear,
And then control the relative position of described nameless 24 and the little finger of toe 25 and the middle finger 23；That is, described nameless 24 and described
Little finger of toe 25 can left and right slight oscillatory.
Those skilled in the art could be aware that all components are to be suitable for the invention commercially available zero in the present invention
Part, the first motor 101, second motor 121 and the third motor 140 are the city's sale of electricity for being provided with encoder
Machine.
In the flexible under-actuated bionic hand of the invention, the five fingers are realized by crooked assembly and intermittently-driving component
Open close up, the five fingers bending and the outreach adduction etc. of thumb movement, be capable of the object of self-adapting grasping different shape and size
Body.The flexible under-actuated bionic hand of the present invention has many advantages, such as light-weight, small in size, convenient processing and manufacture.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (6)
1. a kind of flexibility under-actuated bionic hand, has a palm and finger component, which is characterized in that
The flexibility under-actuated bionic hand further include:
One crooked assembly, the crooked assembly are set to a first surface of the palm, for controlling the finger component
Bending；And
One intermittently-driving component, the intermittently-driving component is set to a second surface of the palm, for controlling the hand
In finger assembly each finger separate and close up；
Wherein, the first surface of the palm is opposite with the second surface.
2. flexibility under-actuated bionic hand as described in claim 1, which is characterized in that the finger component includes a thumb, one
Index finger, a middle finger, a nameless and little finger of toe, also, it is the thumb, the index finger, the middle finger, described nameless and described
Little finger of toe has an identical finger structure；
Three grooves of distribution setting, are divided into a first knuckle, a second knuckle, one for the finger structure on the finger structure
Third knuckle and a connection finger joint；The connection finger joint is used for the index finger, the middle finger, the nameless and described little finger of toe
It is respectively connected to the palm；The connection finger joint of the thumb connects a thumb rotary shaft, and the thumb rotary shaft is rotatably
It is set on the first surface of the palm；
It is equipped with through hole in the first knuckle, the second knuckle, the third knuckle and the connection finger joint, so that one
Connecting line passes through the through hole and is arranged in parallel with the central axis of the finger structure.
3. flexibility under-actuated bionic hand as claimed in claim 2, which is characterized in that the crooked assembly includes: one first curved
Bent component, first crooked assembly include:
One first motor, the first motor are fixedly installed on the first surface of the palm；
One first spiral sleeve, the first spiral sleeve are sheathed on an output shaft of the first motor；With
One pulley blocks, the pulley blocks include one first fixed pulley, one second fixed pulley and a movable pulley；First fixed pulley
It is fixedly installed on the first surface of the palm, and the connection finger joint of the corresponding little finger of toe, second fixed pulley are solid
Surely it is set on the first surface of the palm, and the connection finger joint of the corresponding third finger；
And
One second crooked assembly, second crooked assembly include:
One second motor, second motor are fixedly installed on the first surface of the palm, also, second motor
Output shaft on be arranged a bevel gear；With,
One differential mechanism, the differential mechanism have a shell, are formed in the peripheral surface of the shell and be meshed with the bevel gear
Tooth socket；Also, the differential mechanism also has one first output shaft and one second output shaft；
Wherein, one first connecting line is by first fixed pulley and second fixed pulley through the little finger of toe and described unknown
Refer to；The movable pulley is set on first connecting line between first fixed pulley and second fixed pulley,
Also, the movable pulley passes through one second connecting line and the first spiral sleeve connection；
One third connecting line runs through the middle finger, and the first output axis connection with the differential mechanism；
One the 4th connecting line runs through the index finger, and the second output axis connection with the differential mechanism；And
One the 5th connecting line runs through the thumb, and in the output axis connection of second motor.
4. flexibility under-actuated bionic hand as claimed in claim 3, which is characterized in that the intermittently-driving component includes:
One third motor, the third motor are fixedly installed on the second surface of the palm, and the third motor
Output shaft on be arranged one first ring gear；
Gear set, the gear set include one first partial gear, one second partial gear, an intermediate gear and at least one
Finger connection gear；All gears of the gear set are rotationally arranged at the second surface of the palm；Wherein,
First partial gear is meshed with first ring gear, second partial gear and the described first incomplete tooth
Wheel is meshed, and the intermediate gear is engaged with second partial gear, an at least finger connection gear at least with institute
Intermediate gear is stated to be meshed；
One second ring gear, second ring gear are sheathed on one end of the thumb rotary shaft, also, second ring gear
It is meshed with first partial gear.
5. flexibility under-actuated bionic hand as claimed in claim 4, which is characterized in that the gear set includes three finger connections
Gear: an index finger connection gear, a nameless connection gear and a little finger of toe connection gear；Wherein, the connection finger joint of the index finger
With the rotation axis connection of the index finger connection gear, and the index finger connection gear is meshed with second partial gear；
The rotation axis connection of the connection finger joint of the third finger and the nameless connection gear, and the nameless connection gear
It is meshed with the intermediate gear；
The rotation axis connection of the connection finger joint of the little finger of toe and the little finger of toe connection gear, and the little finger of toe connection gear with it is described
Intermediate gear is meshed.
6. the flexible under-actuated bionic hand as described in any one of claims 1 to 5, which is characterized in that the finger component by
Flexible resin is made.
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| CN201810176058.XA CN110216700B (en) | 2018-03-02 | 2018-03-02 | Flexible under-actuated bionic hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810176058.XA CN110216700B (en) | 2018-03-02 | 2018-03-02 | Flexible under-actuated bionic hand |
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| CN110216700A true CN110216700A (en) | 2019-09-10 |
| CN110216700B CN110216700B (en) | 2022-07-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696025A (en) * | 2019-10-17 | 2020-01-17 | 哈尔滨工业大学 | Flexible humanoid hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110216700B (en) | 2022-07-08 |
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