CN110948516B - Under-actuated bionic wrist device - Google Patents
Under-actuated bionic wrist device Download PDFInfo
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- CN110948516B CN110948516B CN201911285293.1A CN201911285293A CN110948516B CN 110948516 B CN110948516 B CN 110948516B CN 201911285293 A CN201911285293 A CN 201911285293A CN 110948516 B CN110948516 B CN 110948516B
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- China
- Prior art keywords
- support rod
- rod group
- support
- disc seat
- wrist
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 67
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 238000010276 construction Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000007306 turnover Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional 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
- A61F2/585—Wrist joints
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Cardiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an under-actuated bionic wrist device, which comprises a wrist disc seat, a prosthetic hand disc seat and a steering bracket, wherein the steering bracket comprises a first supporting rod group and a second supporting rod group which are arranged in a crossed manner, the first supporting rod group and the second supporting rod group respectively comprise at least one supporting rod, and the supporting rods in the first supporting rod group and the supporting rods in the second supporting rod group are respectively positioned in different vertical planes which are arranged in parallel; the support rods in the first support group have the same inclination angle, the support rods in the second support group have the same inclination angle, and the two ends of each support rod are respectively rotationally hinged with the upper end face of the wrist disc seat and the lower end face of the prosthetic hand disc seat; and traction ropes penetrating through the wrist disc seat are respectively arranged on the first support rod group and the second support rod group and used for pulling the support rods to rotate. The invention can truly simulate the wrist movement of a person, realize large-angle overturning movement, is convenient to connect with a prosthetic hand and is more flexible.
Description
Technical Field
The invention relates to the technical field of bionic hands, in particular to an under-actuated bionic wrist device.
Background
The bionic wrist is used as a main component of the prosthetic hand, so that the prosthetic hand can move more flexibly, becomes the key point of domestic and foreign research, and receives high importance of the social disabled.
Chinese patent document CN 204800661 discloses a two-degree-of-freedom wrist-imitation device comprising a turnover mechanism and a rotation mechanism. The turnover mechanism comprises a base, a first power unit, a first transmission unit and a side turnover platform, and can realize inside and outside turnover movement. The rotating mechanism comprises a second power unit, a second transmission unit and a rotating platform, can realize internal and external rotation movement, can be used as a wrist of the humanoid robot, and can also be arranged on a prosthetic hand. In the above patent document, when the internal and external overturning motion is realized, the controllable overturning angle is limited, the structure is complex, and the overturning angle of the wrist of the person cannot be truly simulated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the under-actuated bionic wrist device which has a simple structure, can simulate the wrist movement of a person, realizes the large-angle overturning movement of the prosthetic hand, has a simple structure, is convenient to connect with the prosthetic hand, and ensures that the prosthetic hand is more flexible.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an under-actuated bionic wrist device comprises a wrist disc seat, a prosthetic hand disc seat and a steering bracket positioned between the wrist disc seat and the prosthetic hand disc seat, wherein the steering bracket comprises a first support rod group and a second support rod group which are arranged in a crossing manner, the first support rod group and the second support rod group respectively comprise at least one support rod, and the support rods in the first support rod group and the support rods in the second support rod group are respectively positioned in different vertical planes which are arranged in parallel; the support rods in the first support group have the same inclination angle, the support rods in the second support group have the same inclination angle, and two ends of each support rod are respectively rotationally hinged with the upper end face of the wrist disc seat and the lower end face of the prosthetic hand disc seat; and traction ropes penetrating through the wrist disc seat are respectively arranged on the first support rod group and the second support rod group and used for pulling support rods in the first support rod group and the second support rod group to rotate.
Preferably, the first support rod group is provided with two support rods which are arranged in parallel, the second support rod group is provided with two support rods which are arranged in parallel, and the two support rods in the first support rod group are positioned on two sides of the two support rods in the second support rod group.
The traction rope comprises a first traction rope and a second traction rope, and the first traction rope penetrates through the wrist disc seat and is arranged close to the hinged end of the upper part of the support rod in the first support rod group; the second traction rope penetrates through the wrist disc seat and is arranged close to the hinged end of the upper portion of the support rod in the second support rod group.
Still preferably, a first tray is further arranged between the wrist tray and the prosthetic hand tray, a first support rod set and a second support rod set which are arranged in a crossing manner are respectively arranged between the first tray and the wrist tray, the first support rod sets are located in the same vertical plane, the second support rod sets are located in the same vertical plane, and the second support rod sets arranged between the first tray and the prosthetic hand tray are connected with the second support rod sets arranged between the first tray and the wrist tray through linkage rods.
Most preferably, a second tray is further arranged between the first tray and the prosthetic hand tray, a first supporting rod group and a second supporting rod group which are arranged in a crossed mode are respectively arranged between the second tray and the first tray and between the second tray and the prosthetic hand tray), the first supporting rod groups are located in the same vertical plane, the second supporting groups are located in the same vertical plane, and the second supporting rod groups among the wrist tray, the first tray, the second tray and the prosthetic hand tray are connected in series up and down by the linkage rod.
The linkage rod comprises a first linkage rod and a second linkage rod which are arranged in parallel, the first linkage rod is respectively in rotary hinge joint with the middle part of each support rod in the second support rod group on the same vertical plane on one side, and the second linkage rod is respectively in rotary hinge joint with the middle part of each support rod in the second support rod group on the same vertical plane on the other side.
And through holes are formed in the middle parts of the first disc seat and the second disc seat respectively, and the first linkage rod and the second linkage rod penetrate through the through holes.
The wrist disc seat, the first disc seat, the second disc seat and the prosthetic hand disc seat are of equal-diameter disc structures.
The support rods in the first support rod group and the second support rod group are axially symmetrically arranged relative to the through hole.
The technical scheme of the invention has the following advantages:
A. The invention controls and balances the steering of the steering bracket 3 through the traction action of the traction rope, can well control the turning direction and the turning angle of the bionic wrist, and has simple structure of the whole bionic wrist device, thereby being very convenient for the disabled and the robot to use.
B. the invention can realize the combination of a plurality of disc seats, such as arranging 3 layers or more of steering brackets, wherein two supporting rods in a second supporting rod group in each layer are respectively connected with a first linkage rod and a second linkage rod in series, and the two traction ropes gradually transmit acting force to the first linkage rod and the second linkage rod, so that the synchronous rotation in the same direction of each layer of steering brackets is realized under the action of the first linkage rod and the second linkage rod, thereby realizing the large-angle overturning of the prosthetic hand and having lower processing cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required for the embodiments will be briefly described, and it will be apparent that the drawings in the following description are some embodiments of the present invention and that other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of the overall structure of a bionic wrist device with prosthetic hand according to the present invention;
FIG. 2 is a schematic view of the overall structure of the wrist device at one of its angles;
FIG. 3 is a schematic view of the overall structure of the wrist device at another angle;
FIG. 4 is a schematic view of the overall structure of the wrist device at another angle;
FIG. 5 is a schematic diagram of a second bionic wrist device according to the present invention;
FIG. 6 is a schematic diagram of a third bionic wrist device according to the present invention;
Fig. 7 is a schematic view of another angle configuration shown in fig. 6.
Reference numerals illustrate:
1-a wrist disc seat; 2-prosthetic hand tray seat
3-Steering rack
31-First support bar set, 32-second support bar set
4-Hauling rope
41-First traction rope, 42-second traction rope
5-First disc seat
6-Linkage rod
61-First linkage rod, 62-second linkage rod
7-A second tray seat; 8-through holes; 9-hinge base.
A-supporting rod.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 5, the invention provides an under-actuated bionic wrist device, which comprises a wrist disc seat 1, a prosthetic hand disc seat 2 and a steering bracket 3 positioned between the wrist disc seat 1 and the prosthetic hand disc seat 2, wherein the steering bracket 3 comprises a first supporting rod group 31 and a second supporting rod group 32 which are arranged in a crossed manner, at least one supporting rod a is respectively contained in the first supporting rod group 31 and the second supporting rod group 32, and the supporting rods in the first supporting rod group 31 and the supporting rods in the second supporting rod group 32 are respectively positioned in different vertical planes which are arranged in parallel; the support rods in the first support group 31 have the same inclination angle, the support rods in the second support group 32 have the same inclination angle, and two ends of each support rod are respectively rotationally hinged with the upper end face of the wrist disc seat 1 and the lower end face of the prosthetic hand disc seat 2; the first support rod group 31 and the second support rod group 32 are respectively provided with a traction rope 4 penetrating through the wrist disc seat 1 and used for pulling the support rods in the first support rod group 31 and the second support rod group 32 to rotate. The traction rope 4 is provided with a first traction rope 41 and a second traction rope 42 which are respectively arranged at two ends of the lower end surface of the prosthetic hand tray seat 2, the first traction rope 41 and the second traction rope 42 are respectively driven by a motor, the first traction rope 41 is used for driving the first support rod group 31 to rotate downwards, the second traction rope 42 and the second support rod group 32 at the moment synchronously rotate along the rotation direction of the first support rod group 31, the prosthetic hand tray seat 2 at the moment is turned to one side for a certain angle, and the holding of the turning angle of the wrist is realized by keeping the two traction ropes with the same force; when the second traction rope is pulled, the second traction rope drives the second support rod group to rotate in the opposite direction, and at the moment, the prosthetic hand tray seat can overturn a certain angle towards the opposite side.
In the present invention, it is preferable that two parallel support rods are provided in the first support rod group 31, and two parallel support rods are provided in the second support rod group 32, and the two support rods in the first support rod group 31 are located at both sides of the two support rods in the second support rod group 32.
As shown in fig. 6 and 7, a first tray 5 is further disposed between the wrist tray 31 and the prosthetic hand tray 32, a first support bar set 31 and a second support bar set 32 are disposed between the first tray 5 and the wrist tray 1, and between the first tray 5 and the prosthetic hand tray 2, respectively, the first support bar sets 31 are disposed in the same vertical plane, the second support bar sets 32 are disposed in the same vertical plane, and the second support bar set 32 disposed between the first tray 5 and the prosthetic hand tray 2 and the second support bar set 32 disposed between the first tray 5 and the wrist tray 1 are connected by a link 6. Of course, the linkage rod 6 may be connected to each support rod in the first support rod group 31, and the bionic wrist function may be realized as well. When one of the traction ropes is pulled, the rotation action of each support rod in the upper layer can be realized through the linkage rod, and the overturning of the wrist with a large angle can be realized.
As shown in fig. 1 to 4, the most preferred embodiment of the present invention is: the first tray seat 5 and the prosthetic hand tray seat 2 are also provided with a second tray seat 7, a first supporting rod group 31 and a second supporting rod group 32 which are arranged in a crossed manner are respectively arranged between the second tray seat 7 and the first tray seat 5 and between the second tray seat 7 and the prosthetic hand tray seat 2, so that the first tray seat 5 and the second tray seat 7 divide the space between the prosthetic hand tray seat and the wrist tray seat into a three-layer structure, each layer is provided with the same first supporting rod group and second supporting rod group, two supporting rods which are arranged in parallel and have a certain inclination angle are arranged in the first supporting rod group of each layer, and two supporting rods which are arranged in parallel and have a certain inclination angle are arranged in the second supporting rod group of each layer. As shown in fig. 2, the three-layer structure is formed, four support rods of each layer are respectively located in four vertical planes, and the linkage rod 6 connects the second support rod group 32 between the wrist disc seat 1, the first disc seat 5, the second disc seat 7 and the prosthetic hand disc seat 2 in series up and down. Through the haulage rope, under the effect of gangbar, every layer of structure all needs to produce the upset of certain angle, and the wrist upset of bigger angle can be realized to three-layer structure.
Of course, more trays can be arranged between the first tray and the second tray, so that the wrist can be turned over at a larger angle, and the structure of each layer is the same, so that the manufacturing is simpler and more convenient.
The linkage rod 6 here includes a first linkage rod 61 and a second linkage rod 62 which are arranged in parallel, the first linkage rod 61 forms a rotary hinge with the middle part of the support rod in each second support rod group 32 on the same vertical plane on one side, and the second linkage rod 62 forms a rotary hinge with the middle part of the support rod in each second support rod group 62 on the same vertical plane on the other side.
In order to make the linkage rod have a sufficient swing range, a larger through hole structure is formed in the middle of the first disc seat and the second disc seat, preferably, each support rod in the first support rod group 31 and the second support rod group 32 is symmetrically arranged at two sides of the through hole, two support rods in the second support rod group are respectively positioned at the positions of the through holes, and the first linkage rod 61 and the second linkage rod 62 respectively penetrate through the through holes 8 and form rotary hinge with the middle of the two support rods in the second support rod group.
In the invention, two ends of all supporting rods are respectively connected in a rotating way through hinging seats 9 fixed on each tray seat. In the drawings, the wrist disc seat 1, the first disc seat 5, the second disc seat 7 and the prosthetic hand disc seat 2 are preferably in an equal-diameter disc structure, and the through holes are arranged in the middle of the first disc seat and the second disc seat.
The invention controls and balances the steering of the steering bracket 3 through the traction action of the traction rope, can well control the turning direction and the turning angle of the wrist, and has simple structure of the whole bionic wrist device, thereby being very convenient for the disabled and the robot to use.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While obvious variations or modifications are contemplated as falling within the scope of the present invention.
Claims (4)
1. The under-actuated bionic wrist device is characterized by comprising a wrist disc seat (1), a prosthetic hand disc seat (2) and a steering bracket (3) positioned between the wrist disc seat (1) and the prosthetic hand disc seat (2), wherein the steering bracket (3) comprises a first supporting rod group (31) and a second supporting rod group (32) which are arranged in a crossed manner, at least one supporting rod (a) is respectively contained in the first supporting rod group (31) and the second supporting rod group (32), and the supporting rods in the first supporting rod group (31) and the supporting rods in the second supporting rod group (32) are respectively positioned in different vertical planes which are arranged in parallel; the support rods in the first support rod group (31) have the same inclination angle, the support rods in the second support group (32) have the same inclination angle, and two ends of each support rod are respectively rotatably hinged with the upper end face of the wrist disc seat (1) and the lower end face of the prosthetic hand disc seat (2); traction ropes (4) penetrating through the wrist disc seat (1) are respectively arranged on the first support rod group (31) and the second support rod group (32) and used for pulling support rods in the first support rod group (31) and the second support rod group (32) to rotate;
the first support rod group (31) is provided with two support rods which are arranged in parallel, the second support rod group (32) is provided with two support rods which are arranged in parallel, and the two support rods in the first support rod group (31) are positioned at two sides of the two support rods in the second support rod group (32);
The traction rope (4) comprises a first traction rope (41) and a second traction rope (42), wherein the first traction rope (41) penetrates through the wrist disc seat (1) and is arranged close to the hinged end of the upper part of the support rod in the first support rod group (31); the second traction rope (42) penetrates through the wrist disc seat (1) and is arranged close to the upper hinged end of the support rod in the second support rod group (32);
A first disc seat (5) is further arranged between the wrist disc seat (31) and the prosthetic hand disc seat (32), a first support rod group (31) and a second support rod group (32) which are arranged in a crossed mode are respectively arranged between the first disc seat (5) and the wrist disc seat (1) and between the first disc seat (5) and the prosthetic hand disc seat (2), the first support rod groups (31) are located in the same vertical plane, the second support rod groups (32) are located in the same vertical plane, and a second support rod group (32) arranged between the first disc seat (5) and the prosthetic hand disc seat (2) is connected with a second support rod group (32) arranged between the first disc seat (5) and the wrist disc seat (1) through a linkage rod (6);
A second tray seat (7) is further arranged between the first tray seat (5) and the prosthetic hand tray seat (2), a first support rod group (31) and a second support rod group (32) which are arranged in a crossing manner are respectively arranged between the second tray seat (7) and the first tray seat (5) and between the second tray seat (7) and the prosthetic hand tray seat (2), the first support rod groups (31) are positioned in the same vertical plane, the second support rod groups (32) are positioned in the same vertical plane, and the linkage rod (6) connects the wrist tray seat (1), the first tray seat (5), the second support rod groups (32) between the second tray seat (7) and the prosthetic hand tray seat (2) in series up and down;
The linkage rod (6) comprises a first linkage rod (61) and a second linkage rod (62) which are arranged in parallel, the first linkage rod (61) is respectively in rotary hinge joint with the middle part of each support rod in the second support rod group (32) on the same vertical plane on one side, and the second linkage rod (62) is respectively in rotary hinge joint with the middle part of each support rod in the second support rod group (62) on the same vertical plane on the other side.
2. The under-actuated bionic wrist device according to claim 1, wherein the middle parts of the first disc seat (5) and the second disc seat (7) are respectively formed with a through hole (8), and the first linkage rod (61) and the second linkage rod (62) penetrate through the through holes (8).
3. The under-actuated bionic wrist device according to claim 2, wherein the wrist rest (1), the first rest (5), the second rest (7) and the prosthetic hand rest (2) are of equal outer diameter disc construction.
4. An under-actuated bionic wrist device according to claim 3, wherein each of the support rods (a) of the first and second support rod sets (31, 32) is axially symmetrically arranged with respect to the through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911285293.1A CN110948516B (en) | 2019-12-13 | 2019-12-13 | Under-actuated bionic wrist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911285293.1A CN110948516B (en) | 2019-12-13 | 2019-12-13 | Under-actuated bionic wrist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110948516A CN110948516A (en) | 2020-04-03 |
| CN110948516B true CN110948516B (en) | 2024-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911285293.1A Active CN110948516B (en) | 2019-12-13 | 2019-12-13 | Under-actuated bionic wrist device |
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| CN (1) | CN110948516B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211388855U (en) * | 2019-12-13 | 2020-09-01 | 北京理工大学 | Under-actuated bionic wrist device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7614673B2 (en) * | 2006-11-02 | 2009-11-10 | University Of South Florida | Conforming artificial finger mechanism |
| CN102009414B (en) * | 2010-12-29 | 2013-01-09 | 上海大学 | Wrist device for three degree of freedom (TDOF) underactuated robot |
| CN105269591B (en) * | 2015-11-19 | 2017-06-06 | 中国计量学院 | Two-freedom wide-angle motion biomimeticses elbow joint |
| IT201600120646A1 (en) * | 2016-11-29 | 2018-05-29 | Giovanni Antonio Zappatore | UNUSED ROBOTIC HAND |
| CN107097246A (en) * | 2017-05-25 | 2017-08-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
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2019
- 2019-12-13 CN CN201911285293.1A patent/CN110948516B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211388855U (en) * | 2019-12-13 | 2020-09-01 | 北京理工大学 | Under-actuated bionic wrist device |
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| CN110948516A (en) | 2020-04-03 |
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