CN110604636A - Pneumatic muscle-driven intelligent hand device - Google Patents
Pneumatic muscle-driven intelligent hand device Download PDFInfo
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- CN110604636A CN110604636A CN201910892798.8A CN201910892798A CN110604636A CN 110604636 A CN110604636 A CN 110604636A CN 201910892798 A CN201910892798 A CN 201910892798A CN 110604636 A CN110604636 A CN 110604636A
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- finger
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- palm
- sliding block
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 36
- 210000003811 finger Anatomy 0.000 claims abstract description 185
- 210000003813 thumb Anatomy 0.000 claims abstract description 163
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 230000004118 muscle contraction Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000408659 Darpa Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- 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
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (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)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an intelligent hand device driven by pneumatic muscles, which comprises a palm mechanism, a thumb mechanism and four finger mechanisms, wherein the palm mechanism comprises a palm body, a palm cover plate, a thumb sliding block, a finger sliding block and pneumatic muscles for controlling the movement of the sliding block; the finger mechanism is internally provided with a finger connecting rod mechanism, the finger connecting rod mechanism is connected with a finger sliding block in the palm mechanism, and the finger mechanism is driven by pneumatic muscles to realize the rotation of two degrees of freedom by the finger sliding block and the finger connecting rod mechanism. Compared with the prior art, the invention has the advantages of simple mechanism, light weight, convenient assembly and maintenance, reduced power loss and the like.
Description
Technical Field
The invention relates to the field of medical rehabilitation, in particular to an intelligent hand device driven by pneumatic muscles.
Background
In recent years, the number of patients with disabled patients who have amputated limbs has been increasing due to accidents such as safety accidents and traffic accidents. According to statistics, the number of the people with disabilities in continental areas in China currently reaches 6000 to more than ten thousand, which is about 5 percent of the whole population proportion, wherein about 30 to 40 percent of people with disabilities in upper limbs, and about 400 to more than ten thousand people are forearm amputation. Certain physical deficits cause inconvenience to their lives, learning, work, and, in turn, cause various psychological and physiological disorders.
For patients with limb loss, most of the current electric artificial hands are active artificial hands and myoelectric signal artificial hands. In foreign countries, Vincent and Bebionic prosthetic hands were introduced in 2010 and 2012 by Vincent corporation and RSL Steeper, germany, respectively. Since 2005, the united states DARPA department of defense advanced research project initiative initiated the "revolutionary prosthesis" project, which was the largest research project in the field of prostheses throughout the history, and more than 30 universities and research institutes participated in the research, and subsequently launched the DEKA intelligent prosthesis system, in which LUKE prostheses 2014 were certified by the united states food and drug administration, 2016 entered clinical use, and had been commercially produced by the united states national instruments.
At present, most rehabilitation devices are driven by a pure electric motor, the mechanism is complex, the device is heavier, and the occupied space is large; and the motor motion can shake, cause the intelligence hand operation inaccuracy. The pneumatic artificial muscle is an actuating element which has simple mechanism and good flexibility and can not damage an operation object. The intelligent hand which is light and safe and meets the requirements of patients and markets is designed by adopting pneumatic muscle driving, so that the intelligent hand has great significance.
Disclosure of Invention
The present invention aims to overcome the above-mentioned drawbacks of the prior art and to provide a pneumatic muscle-driven smart hand device.
The purpose of the invention can be realized by the following technical scheme:
an intelligent hand device driven by pneumatic muscles comprises a palm mechanism, a thumb mechanism and four finger mechanisms, wherein the palm mechanism comprises a palm body, a palm cover plate, a thumb sliding block, a finger sliding block and pneumatic muscles for controlling the movement of the sliding block; the finger mechanism is internally provided with a finger connecting rod mechanism, the finger connecting rod mechanism is connected with a finger sliding block in the palm mechanism, and the finger mechanism is driven by pneumatic muscles to realize the rotation of two degrees of freedom by the finger sliding block and the finger connecting rod mechanism.
The thumb slide block comprises a thumb front section slide block and a thumb rear section slide block, and the finger slide block comprises a finger rear section slide block and a finger front section slide block.
The palm body is hollow structure with the junction of thumb mechanism, finger mechanism, this internal spout that is used for different sliders to slide that is equipped with of palm.
The rear of the front finger section sliding block and the rear finger section sliding block are provided with springs, and the rear of the front thumb section sliding block and the rear thumb section sliding block are provided with springs, so that automatic reset of the corresponding sliding blocks is realized.
The thumb mechanism comprises a thumb front section, a thumb rear section and a thumb metacarpal section, the thumb front section is connected with the thumb rear section through a shaft connection mode, the thumb rear section is connected with the thumb metacarpal section through a shaft connection mode, the thumb connecting rod mechanism comprises a thumb inner connecting rod, a thumb change-over rod, a thumb front section driving rod and a thumb rear section driving rod, one end of the thumb front section driving rod is connected with a thumb front section sliding block, the other end of the thumb front section driving rod is movably connected with the thumb change-over rod, one end of the thumb rear section driving rod is connected with the thumb rear section sliding block, the other end of the thumb rear section driving rod is directly connected with the thumb rear section, one end of the thumb inner connecting rod is movably connected with the thumb change-over rod, the other end of the thumb inner connecting rod is directly connected with the thumb front section, one;
the pneumatic muscle contracts to drive the thumb front-section sliding block to slide, the thumb front-section driving rod is driven by the thumb front-section sliding block to drive the thumb inner connecting rod to move through the rotation of the thumb conversion rod, and therefore the thumb front section is bent; the thumb rear section driving rod directly drives the thumb rear section to bend under the driving of the thumb rear section sliding block.
The palm is equipped with the thumb and rotates the slider in the inside of palm body, the thumb rotates the slider and is connected with thumb palm finger section, controls the rotation of thumb palm finger section.
The finger mechanism comprises a finger front section, a finger rear section and a finger palm section, the finger front section is connected with the finger rear section through a shaft connection mode, the finger rear section is connected with the finger palm section through a shaft connection mode, the finger link mechanism comprises a finger inner link, a finger change-over lever, a finger front section drive lever and a finger rear section drive lever, one end of the finger front section drive lever is connected with a finger front section slide block, the other end of the finger front section drive lever is movably connected with the finger rear section slide block, the other end of the finger rear section drive lever is directly connected with the finger rear section, one end of the finger inner link is movably connected with the finger change-over lever, the other end of the finger inner link is directly connected with the finger front section, one end of the finger palm section is movably connected with the palm mechanism through a shaft connection, and the other end of the finger rear;
pneumatic muscle contraction drives the finger front section sliding block to slide, the finger front section driving rod moves backwards under the driving of the finger front section sliding block, and then the finger conversion rod drives the finger inner connecting rod to move, so that the bending action of the finger front section is realized; the finger back section driving rod realizes backward movement through the finger back section sliding block and directly drives the finger back section to bend.
And a hole is formed at the joint of the finger palm section and the palm mechanism.
Compared with the prior art, the invention has the following beneficial effects:
1. the thumb mechanism and the finger mechanism both adopt the connecting rod as the transmission device, are simpler and more convenient compared with a hinge mechanism, are convenient to assemble and maintain, and simultaneously reduce the consumption of power in the transmission process.
2. According to the invention, the rotation of the palm and finger sections of the thumb is controlled by the thumb rotating slide block, the degree of freedom of the thumb mechanism is increased, the automatic reset of the slide block is realized by the spring behind the front section slide block and the rear section slide block of the finger, and the use pressure of pneumatic muscles is reduced.
3. The connecting part of the finger palm section and the palm mechanism is provided with the hole, so that pneumatic muscles can control the finger mechanism conveniently.
4. The motion of each joint of the invention is driven by independent pneumatic muscle, the control is accurate, and meanwhile, the pneumatic tendon mechanism improves the safety of the device, reduces the weight of the mechanism and also reduces the production cost.
Drawings
FIG. 1 is a schematic diagram of the mechanism of the present invention;
FIG. 2 is a schematic diagram of the mechanism of the palm mechanism of the present invention;
FIG. 3 is a schematic diagram of the mechanism of the thumb mechanism of the present invention;
fig. 4 is a schematic diagram of the mechanism of the finger mechanism of the present invention.
Reference numerals:
2-palm body; 21-palm cover plate; 22-a motion runner; 23-thumb turn slider; 24-thumb anterior segment slider; 25-thumb posterior segment slider; 26-thumb turn nub; 27-finger back section slider; 28-finger anterior segment slider; 3-a thumb mechanism; 31-anterior thumb section; 32-posterior thumb segment; 33-thumb posterior segment drive lever; 34-thumb, palm and finger section; 35-thumb anterior segment drive rod; 36-thumb toggle; 37-thumb inner link; 4-a finger mechanism; 41-anterior finger segment; 42-posterior finger segment; 43-finger metacarpal-finger section; 44-rear finger section drive bar; 45-finger anterior segment drive rod; 46-a finger lever; 47-finger inner link.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, an intelligent hand device driven by pneumatic muscles comprises a palm mechanism, a thumb mechanism 3 and four finger mechanisms 4, wherein the palm mechanism comprises a palm body 2, a palm cover plate 21, a thumb slide block, finger slide blocks and pneumatic muscles for controlling the movement of the slide blocks, a thumb link mechanism is arranged in the thumb mechanism, the thumb link mechanism is connected with the thumb slide block in the palm mechanism, and the thumb mechanism is driven by the pneumatic muscles to realize the rotation of three degrees of freedom by the thumb slide block and the thumb link mechanism; the finger mechanism is internally provided with a finger link mechanism, the finger link mechanism is connected with a finger sliding block in the palm mechanism, and the finger mechanism is driven by pneumatic muscles to realize the rotation of two degrees of freedom by the finger sliding block and the finger link mechanism.
As shown in fig. 2, the thumb slide block comprises a thumb front slide block 24 and a thumb back slide block 25, and the finger slide block comprises a finger back slide block 27 and a finger front slide block 28.
The palm body 2 is the main part of intelligent hand, and its inside is hollow structure in the junction of thumb mechanism and other four finger mechanisms, is equipped with the motion spout 22 of different sizes in the palm body 2 and is used for realizing the thumb with the slip that is other four finger sliders, and palm apron 21 mainly used closing cap palm.
The rear of the front finger section sliding block 28 and the rear finger section sliding block 27 are provided with springs, and the rear of the front thumb section sliding block 24 and the rear thumb section sliding block 25 are provided with springs, so that the automatic resetting of the sliding blocks is realized, and the use of pneumatic muscles is reduced.
As shown in fig. 3, the thumb mechanism includes a front thumb section 31, a rear thumb section 32 and a palm finger section 34, the front thumb section 31 is connected with the rear thumb section 32 through a shaft connection manner, the rear thumb section 32 is connected with the palm finger section 34 through a shaft connection manner, the thumb link mechanism includes a thumb link mechanism, an inner thumb link 37, a thumb change-over lever 36, a front thumb section drive lever 35 and a rear thumb section drive lever 33, the front thumb section drive lever 35 is connected with the front thumb section slider 24, the rear thumb section drive lever 33 is connected with the rear thumb section slider 25, one end of the inner thumb link 37 is movably connected with the thumb change-over lever 36, the other end is directly connected with the front thumb section 31, the front thumb section drive lever 35 is movably connected with the thumb change-over lever 36, the rear thumb section drive lever 33 is directly connected with the rear thumb section 32, the palm finger section 34 is movably connected with the palm mechanism through a shaft, The thumb conversion lever 36 is movably connected through a shaft;
the pneumatic muscle contracts to drive the thumb front-section sliding block 24 to slide, the thumb front-section driving rod 35 is driven by the thumb front-section sliding block 24 to drive the thumb inner connecting rod 37 to move through the rotation of the thumb conversion rod 36, and therefore the thumb front section 31 is bent; the thumb back section driving rod 33 directly drives the thumb back section 32 to bend under the driving of the thumb back section sliding block 25.
The inner part of the palm body 2 is provided with a thumb front section sliding block 24, a thumb rear section sliding block 25, a thumb rotating small block 26 and a thumb rotating sliding block 23, the thumb rotating small block 26, the thumb front section sliding block 24 and the thumb rear section sliding block 25 are connected with a thumb palm finger section 34, the thumb rotating sliding block 23 is also connected with the thumb palm finger section 34 through a connecting rod, and the front and back movement and the rotation around the central shaft of the thumb mechanism are controlled together.
As shown in fig. 4, the finger mechanism includes a front finger section 41, a rear finger section 42 and a palm finger section 43, the front finger section 41 and the rear finger section 42 are connected by a shaft connection method, the rear finger section 42 and the palm finger section 43 are connected by a shaft connection method, the finger link mechanism includes an inner finger link 47, the finger conversion device comprises a finger conversion rod 46, a finger forepart driving rod 45 and a finger rear-part driving rod 44, wherein the finger forepart driving rod 45 is connected with a finger forepart slider 28, the finger rear-part driving rod 44 is connected with a finger rear-part slider 27, one end of an inner finger connecting rod 47 is directly connected with a finger forepart 41, the other end of the inner finger connecting rod is movably connected with the finger conversion rod 46, the finger conversion rod 47 is movably connected with the finger forepart driving rod 45, the finger rear-part driving rod 44 is directly connected with a finger rear part 42, the finger palm section 43 is directly connected with a palm mechanism, and the finger rear part 42 is connected with the finger palm section 43 and the finger conversion rod 46;
pneumatic muscle contraction drives the finger forepart sliding block 28 to slide, the finger forepart driving rod 45 is driven by the finger forepart sliding block 28 to move backwards, and then the finger conversion rod 46 drives the finger inner connecting rod 47 to move, so that the finger forepart 41 realizes bending action; the rear finger section driving rod 44 moves backwards through the rear finger section sliding block 27, and directly drives the rear finger section 42 to bend.
The connection between the finger segment 34 and the palm mechanism is provided with a hole for pneumatic muscle control.
Each degree of freedom motion of the thumb mechanism and the finger mechanism is driven by an independent pneumatic muscle, and the different stretching states of the pneumatic muscles can realize the coordinated motion between different parts of the finger mechanism, so that the intelligent hand can realize flexible finger actions such as grabbing, holding, pinching and the like, and the rehabilitation requirement of a patient in need is met.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (8)
1. An intelligent hand device driven by pneumatic muscles comprises a palm mechanism, a thumb mechanism and four finger mechanisms, wherein the palm mechanism comprises a palm body, a palm cover plate, a thumb sliding block, a finger sliding block and pneumatic muscles for controlling the movement of the sliding block; the finger mechanism is internally provided with a finger connecting rod mechanism, the finger connecting rod mechanism is connected with a finger sliding block in the palm mechanism, and the finger mechanism is driven by pneumatic muscles to realize the rotation of two degrees of freedom by the finger sliding block and the finger connecting rod mechanism.
2. The pneumatic muscle-driven intelligent hand device as claimed in claim 1, wherein the thumb slide block comprises a thumb front section slide block, a thumb back section slide block, a thumb turning small block and a thumb turning slide block, and the finger slide block comprises a finger back section slide block and a finger front section slide block.
3. The pneumatic muscle-driven intelligent hand device as claimed in claim 2, wherein the connection between the palm body and the thumb mechanism and the finger mechanism is a hollow structure, and chutes for sliding different sliding blocks are arranged in the palm body.
4. The pneumatic muscle-driven intelligent hand device as claimed in claim 2, wherein springs are arranged behind the front-finger-section sliding block and the rear-finger-section sliding block, and springs are arranged behind the front-thumb-section sliding block and the rear-thumb-section sliding block, so that automatic resetting of the corresponding sliding blocks is realized.
5. The pneumatic muscle-driven intelligent hand device as claimed in claim 2, wherein the thumb mechanism comprises a front thumb section, a rear thumb section and a palm section, the front thumb section and the rear thumb section are connected through a shaft, the rear thumb section and the palm section are connected through a shaft, the thumb linkage mechanism comprises an inner thumb linkage, a thumb conversion lever, a front thumb section driving lever and a rear thumb section driving lever, one end of the front thumb section driving lever is connected with the front thumb section sliding block, the other end of the front thumb section driving lever is movably connected with the thumb conversion lever, one end of the rear thumb section driving lever is connected with the rear thumb section sliding block, the other end of the rear thumb section driving lever is directly connected with the back thumb section, one end of the inner thumb linkage is movably connected with the thumb conversion lever, the other end of the inner thumb section is directly connected with the front thumb section, and one end of the palm section is movably connected with the, the other end is connected with the rear section of the thumb and the thumb conversion lever through a shaft;
the pneumatic muscle contracts to drive the thumb front-section sliding block to slide, the thumb front-section driving rod is driven by the thumb front-section sliding block to drive the thumb inner connecting rod to move through the rotation of the thumb conversion rod, and therefore the thumb front section is bent; the thumb rear section driving rod directly drives the thumb rear section to bend under the driving of the thumb rear section sliding block.
6. The pneumatic muscle-driven intelligent hand device as claimed in claim 2, wherein a thumb rotating slider is arranged inside the palm body, and the thumb rotating slider is connected with the thumb palm section to control the rotation of the thumb palm section.
7. The pneumatic muscle-driven intelligent hand device according to claim 2, wherein the finger mechanism comprises a front finger section, a rear finger section and a palm section, the front finger section and the rear finger section are connected by an axle connection manner, the rear finger section and the palm section are connected by an axle connection manner, the finger link mechanism comprises an inner finger link, a finger conversion lever, a front finger section drive lever and a rear finger section drive lever, one end of the front finger section drive lever is connected with the front finger section slide block, the other end of the front finger section drive lever is movably connected with the finger conversion lever, one end of the rear finger section drive lever is connected with the rear finger section slide block, the other end of the rear finger section drive lever is directly connected with the back finger section, one end of the inner finger link is movably connected with the finger conversion lever, the other end of the inner finger link is directly connected with the front finger section, one end of the palm section is movably, the other end is connected with the finger rear section and the finger conversion rod through a shaft;
pneumatic muscle contraction drives the finger front section sliding block to slide, the finger front section driving rod moves backwards under the driving of the finger front section sliding block, and then the finger conversion rod drives the finger inner connecting rod to move, so that the bending action of the finger front section is realized; the finger back section driving rod realizes backward movement through the finger back section sliding block and directly drives the finger back section to bend.
8. The pneumatic muscle-driven intelligent hand device as claimed in claim 7, wherein a hole is formed at the joint of the finger palm section and the palm mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910892798.8A CN110604636A (en) | 2019-09-20 | 2019-09-20 | Pneumatic muscle-driven intelligent hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910892798.8A CN110604636A (en) | 2019-09-20 | 2019-09-20 | Pneumatic muscle-driven intelligent hand device |
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| CN110604636A true CN110604636A (en) | 2019-12-24 |
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| CN201910892798.8A Pending CN110604636A (en) | 2019-09-20 | 2019-09-20 | Pneumatic muscle-driven intelligent hand device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202241307U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Connecting rod slider type under-actuated bionic robot hand device |
| CN103372865A (en) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | Manipulator |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| CN208339636U (en) * | 2017-09-01 | 2019-01-08 | 上海术理智能科技有限公司 | Connecting rod drive-type emulation artificial limb hand |
| CN109758275A (en) * | 2019-01-22 | 2019-05-17 | 内蒙古恩德莱康复器具有限公司 | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger |
| WO2019156643A1 (en) * | 2018-02-07 | 2019-08-15 | Koç Üni̇versi̇tesi̇ | A prosthetic hand |
| CN211460693U (en) * | 2019-09-20 | 2020-09-11 | 上海理工大学 | Pneumatic muscle-driven intelligent hand device |
-
2019
- 2019-09-20 CN CN201910892798.8A patent/CN110604636A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202241307U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Connecting rod slider type under-actuated bionic robot hand device |
| CN103372865A (en) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | Manipulator |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| CN208339636U (en) * | 2017-09-01 | 2019-01-08 | 上海术理智能科技有限公司 | Connecting rod drive-type emulation artificial limb hand |
| WO2019156643A1 (en) * | 2018-02-07 | 2019-08-15 | Koç Üni̇versi̇tesi̇ | A prosthetic hand |
| CN109758275A (en) * | 2019-01-22 | 2019-05-17 | 内蒙古恩德莱康复器具有限公司 | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger |
| CN211460693U (en) * | 2019-09-20 | 2020-09-11 | 上海理工大学 | Pneumatic muscle-driven intelligent hand device |
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