CN118163133A - Finger structure assembly for rope traction dexterous hand - Google Patents
Finger structure assembly for rope traction dexterous hand Download PDFInfo
- Publication number
- CN118163133A CN118163133A CN202410581195.7A CN202410581195A CN118163133A CN 118163133 A CN118163133 A CN 118163133A CN 202410581195 A CN202410581195 A CN 202410581195A CN 118163133 A CN118163133 A CN 118163133A
- Authority
- CN
- China
- Prior art keywords
- end plate
- connecting rod
- phalanx
- phalangeal
- pulley
- Prior art date
- 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.)
- Pending
Links
- 238000005096 rolling process Methods 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000005452 bending Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 22
- 238000009826 distribution Methods 0.000 claims description 16
- 210000000988 bone and bone Anatomy 0.000 claims description 5
- 238000003892 spreading Methods 0.000 claims description 5
- 230000007480 spreading Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000004873 anchoring Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 210000002435 tendon Anatomy 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- -1 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a finger structure assembly for a rope traction dexterous hand, which comprises 9 connecting rods and joints, wherein the 9 connecting rods are sequentially hinged from a far end to a near end; the rolling joint is formed by meshing a far phalanx connecting rod, a middle phalanx connecting rod, a near phalanx connecting rod, a lateral expansion phalanx connecting rod and two adjacent end plates on two sides of a finger support through gears; tension amplifying devices are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one ends of the 8 ropes are respectively fixed in the connecting rods at the relative near ends, the other ends of the 8 ropes are wound on the tension amplifying device and then extend to the near ends to be led out by the finger supports, and the other ends of the 8 ropes are connected with the control mechanism. Meanwhile, the structure is simple, the use is convenient and fast, the installation is easy, and the practicability is good.
Description
Technical Field
The invention relates to the technical field of mechanical structures, in particular to the field of cooperative robots, and in particular relates to a finger structure assembly for a rope traction humanoid dexterous hand.
Background
The dexterous hand is an important component of the robot for performing grasping and operating functions, and has an important influence on the performance of the robot as an end effector of the robot. Along with the continuous development of robot technology, the requirements of people on the performance of robots are also continuously improved. The dexterous hand is used for solving the problems of complex object grabbing, stable and reliable operation and the like in the practical operation of a robot.
The rope traction dexterous hand is used as an end effector of the flexible cooperative robot to assist or replace a human to perform a series of operation tasks in daily life. Compared with the traditional rigid industrial robot actuator, the rope traction dexterous hand can be more safely applied to a human daily work scene due to the inherent flexibility of the rope. The rope traction dexterous hand is based on a tendon-simulated traction mechanism, realizes simulation of a human muscle-tendon structure by utilizing tendon ropes, pulleys and tendon sheath structures, can be placed in a non-operation area far away from fingers after traction, and greatly reduces the end load and inertia of the robot. Because the rope has certain elastic deformation and the tendon sheath structure can transmit limited rope tension, the general rope traction dexterous hand has very low rigidity and fingertip force, and cannot be used for the task scene of most hands.
Therefore, how to improve the terminal rigidity and fingertip force of the rope traction dexterous hand and ensure the dexterous hand to have the flexibility similar to the hand is a problem to be solved at present.
In view of this, the present invention has been made.
Disclosure of Invention
The invention aims to provide a finger structure assembly for a rope traction dexterous hand, which can improve the terminal rigidity and the fingertip force of the rope traction dexterous hand, has the same degree of freedom of a human hand and is higher than the working space of the human hand, and simultaneously realizes the fingertip force and joint rigidity level close to the human hand. Meanwhile, the structure is simple, the use is convenient and fast, the installation is easy, and the practicability is good.
The invention aims at realizing the following technical scheme:
The finger structure assembly for the rope traction dexterous hand comprises a distal phalange link 1, a DIP joint link 2, a middle phalange link 3, a PIP joint link 4, a proximal phalange link 5, an MCP bending joint link 6, a lateral phalange link 7, an MCP lateral phalange link 8 and a finger support 9 which are sequentially connected in a hinged manner from a distal end to a proximal end;
the rolling joints are connected between the two side end plates of the far-section phalanx connecting rod 1 and the middle-section phalanx connecting rod 3, between the two side end plates of the middle-section phalanx connecting rod 3 and the near-section phalanx connecting rod 5, between the two side end plates of the near-section phalanx connecting rod 5 and the side-expanding phalanx connecting rod 7 and between the upper end plate and the lower end plate of the side-expanding phalanx connecting rod 7 and the finger support 9 through gear meshing;
Tension amplifying devices 10 are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one end of each of the 8 ropes is respectively fixed in a connecting rod at the relative near end, the other end is wound around the tension amplifying device 10 and then extends to the near end to be led out by the finger support 9, and then the other end is connected with the control mechanism, and the movement of fingers is realized by each rope of the control mechanism.
The tension amplifying device 10 comprises a fixed pulley block 20 and a movable pulley block 19; the fixed pulley block 20 is arranged in a finger bone connecting rod or a finger support at the near end through a guide distribution pin shaft 21 which is parallel to a hinge shaft 23 among connecting rods of the rolling joint;
The movable pulley block 19 is arranged in the distal phalangeal connecting rod through a guide distribution pin shaft 21 parallel to the hinge shaft among the connecting rods of the rolling joint;
One end of the rope is fixed in a connecting rod provided with the fixed pulley block 20, the other end of the rope repeatedly bypasses the fixed pulley block 20 and each pulley of the fixed pulley block 20, extends towards the near end and is led out by the finger support 9.
Two ropes led out by two tension amplifying devices 10 at the rolling joint between the far phalangeal connecting rod 1 and the middle phalangeal connecting rod 3 are led out by the outer sides of the two tension amplifying devices 10 at the rolling joint between the middle phalangeal connecting rod 3 and the near phalangeal connecting rod 5 after being crossed in the middle phalangeal connecting rod 3, are led out by a first guide pulley 22 on a guide distribution pin shaft 21 respectively, are led out by a first guide pulley 22 arranged on two hinge shafts of the MCP bending joint connecting rod 6 along an outer-inner-outer S path, and are led out by a finger support 9; and/or;
Two ropes led out by two tension amplifying devices 10 at the rolling joint between the middle phalanx connecting rod 3 and the near phalanx connecting rod 5 respectively bypass a first guide pulley 22 on a guide distribution pin shaft 21, then bypass a first guide pulley 22 arranged on two hinge shafts of the MCP bending joint connecting rod 6 along an outer-inner-outer S path, and extend to a finger support 9 for leading out; and/or;
Two ropes led out of two tension amplifying devices 10 at the rolling joint between the proximal phalanx connecting rod 5 and the lateral phalanx connecting rod 7 extend to the finger support 9 for leading out; and/or;
Two ropes led out by two tension amplifying devices 10 at the rolling joint between the lateral spread phalangeal connecting rod 7 and the finger support 9 are led out from the finger support 9.
The far-section phalanx connecting rod 1 comprises a left far-section phalanx end plate 101 and a right far-section phalanx end plate 102 which are fixedly connected, and the near end edges of the left far-section phalanx end plate 101 and the right far-section phalanx end plate 102 are provided with gear teeth of an incomplete gear;
The movable pulley block 19 is arranged at the inner proximal ends of the left distal phalanx end plate 101 and the right distal phalanx end plate 102; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 being mounted by a fixed pin 12 parallel to a hinge axis 23 between the links.
The middle phalanx connecting rod 3 comprises a left middle phalanx end plate 301 and a right middle phalanx end plate 302 which are fixedly connected, and the far end edge and the near end edge of the left middle phalanx end plate 301 and the right middle phalanx end plate 302 are respectively provided with gear teeth of an incomplete gear;
the movable pulley block 19 is arranged at the inner proximal ends of the left middle phalanx end plate 301 and the right middle phalanx end plate 302; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 is arranged through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods, and a second guide pulley 24 is further arranged on the fixed pin shaft 12;
The fixed pulley blocks 20 are arranged at the inner distal ends of the left middle phalanx end plate 301 and the right middle phalanx end plate 302; the fixed pulley block 20 includes at least one pulley 13, and the pulley 13 is mounted through a fixed pin 12 parallel to a hinge shaft 23 between the links.
The proximal phalanx connecting rod 5 comprises a left proximal phalanx end plate 501 and a right proximal phalanx end plate 502 which are fixedly connected, and the distal end edge and the proximal end edge of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502 are respectively provided with gear teeth of an incomplete gear;
The movable pulley block 19 is arranged at the inner proximal ends of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502; the movable pulley block 19 comprises at least one pulley 13, and the pulley 13 is arranged through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods;
the fixed pulley blocks 20 are arranged at the inner distal ends of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502; the fixed pulley block 20 comprises at least one pulley 13, the pulley 13 is installed through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods, and a second guide pulley 24 is further arranged on the fixed pin shaft 12.
A set of first guide pulleys 22 are also mounted in the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502 respectively through two guide distribution pin shafts 21.
The lateral expansion phalangeal connecting rod 7 comprises a left lateral expansion phalangeal end plate 701, a right lateral expansion phalangeal end plate 702, an upper lateral expansion phalangeal end plate 703 and a lower lateral expansion phalangeal end plate 704 which are fixedly connected, and the distal edges of the left lateral expansion phalangeal end plate 701 and the right lateral expansion phalangeal end plate 702 are provided with gear teeth of an incomplete gear; the proximal edges of the upper spreading phalangeal end plate 703 and the lower spreading phalangeal end plate 704 are provided with gear teeth of an incomplete gear;
The fixed pulley blocks 20 are arranged at the inner distal ends of the left spread phalangeal end plate 701 and the right spread phalangeal end plate 702; the fixed pulley block 20 comprises at least one pulley 13, and the pulley 13 is arranged through a fixed pin shaft 12 which is parallel to a hinge shaft 23 between the connecting rods;
The movable pulley blocks 19 are arranged at the inner proximal ends of the upper spread phalangeal end plate 703 and the lower spread phalangeal end plate 704; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 being mounted by a fixed pin 12 parallel to a hinge axis 23 between the links.
The finger support 9 comprises an upper finger support end plate 901 and a lower finger support end plate 902 which are fixedly connected into a frame through two limiting plates 17; the distal edges of the upper finger support end plate 901 and the lower finger support end plate 902 are provided with gear teeth of an incomplete gear;
the fixed pulley block 20 is arranged at the far end in the upper finger support end plate 901 and the lower finger support end plate 902; the fixed pulley block 20 includes at least one pulley 13, and the pulley 13 is mounted through a fixed pin 12 parallel to a hinge shaft 23 between the links.
The MCP bending joint link 6 includes a left MCP joint endplate 601 and a right MCP joint endplate 602 connected by two connecting posts 603; and a set of first guide pulleys 22 are provided on the hinge shaft 23 between the left MCP joint end plate 601 and the right MCP joint end plate 602.
Compared with the prior art, the finger structure assembly for the rope traction dexterous hand can improve the terminal rigidity and the fingertip force of the rope traction dexterous hand, has the same degree of freedom of a human hand and is higher than the working space of the human hand, and meanwhile achieves the fingertip force and joint rigidity level close to the human hand. Meanwhile, the structure is simple, the use is convenient and fast, the installation is easy, and the practicability is good.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a finger structure assembly for a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a front cross-sectional view of a finger structure assembly for a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 3 is a schematic view of a distal phalange link of a finger structure assembly for a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the DIP articulation link and PIP articulation link of a finger structure assembly for a rope-hauling dexterous hand according to an embodiment of the present invention;
FIG. 5 is a schematic view of a structure of a middle phalange link of a finger structure assembly for a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a proximal phalange link of a finger structure assembly for a rope-traction dexterous hand in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of the structure of an MCP curved joint link for a finger structure assembly of a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of an MCP side-span articulation link for a finger structural assembly of a rope-pulling dexterous hand in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of a side-spreading phalangeal link of a finger structure assembly for a rope-traction dexterous hand according to an embodiment of the present invention;
FIG. 10 is a schematic view of the structure of a finger rest for a finger structure assembly of a rope-hauled dexterous hand in accordance with an embodiment of the present invention;
FIG. 11 is a schematic diagram of a tension amplifying device for a finger structure assembly of a rope-pulling dexterous hand according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of one embodiment of the present invention providing a means of pulling a rope for a finger structure assembly of a rope pulling dexterous hand;
FIG. 13 is a schematic diagram II of a rope pulling method for a finger structure assembly of a rope pulling dexterous hand according to an embodiment of the present invention;
FIG. 14 is a schematic diagram III of a manner of pulling a rope providing a finger structure assembly for a rope pulling dexterous hand in accordance with an embodiment of the present invention;
fig. 15 is a schematic diagram of a fourth embodiment of the present invention providing a way of pulling a rope for a finger structure assembly of a rope pulling dexterous hand.
Detailed Description
The technical scheme in the embodiment of the invention is clearly and completely described below in combination with the specific content of the invention; it will be apparent that the described embodiments are only some embodiments of the invention, but not all embodiments, which do not constitute limitations of the invention. 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 fall within the scope of the invention.
The terms that may be used herein will first be described as follows:
the term "and/or" is intended to mean that either or both may be implemented, e.g., X and/or Y are intended to include both the cases of "X" or "Y" and the cases of "X and Y".
The terms "comprises," "comprising," "includes," "including," "has," "having" or other similar referents are to be construed to cover a non-exclusive inclusion. For example: including a particular feature (e.g., a starting material, component, ingredient, carrier, formulation, material, dimension, part, means, mechanism, apparatus, step, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product or article of manufacture, etc.), should be construed as including not only a particular feature but also other features known in the art that are not explicitly recited.
The term "consisting of … …" is meant to exclude any technical feature element not explicitly listed. If such term is used in a claim, the term will cause the claim to be closed, such that it does not include technical features other than those specifically listed, except for conventional impurities associated therewith. If the term is intended to appear in only a clause of a claim, it is intended to limit only the elements explicitly recited in that clause, and the elements recited in other clauses are not excluded from the overall claim.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like should be construed broadly to include, for example: the connecting device can be fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.
The terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for ease of description and to simplify the description, and do not explicitly or implicitly indicate that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.
The finger structure assembly for a rope pulling dexterous hand provided by the present invention is described in detail below. What is not described in detail in the embodiments of the present invention belongs to the prior art known to those skilled in the art. The specific conditions are not noted in the examples of the present invention and are carried out according to the conditions conventional in the art or suggested by the manufacturer. The reagents or apparatus used in the examples of the present invention were conventional products commercially available without the manufacturer's knowledge.
Examples
As shown in fig. 1-2, embodiments of the present invention provide a finger structure assembly for a rope-pulled dexterous hand having the same degree of freedom and working space above the human hand while achieving a level of fingertip force and joint stiffness approaching the human hand. The structure comprises a far-section phalanx connecting rod 1, a DIP joint connecting rod 2, a middle-section phalanx connecting rod 3, a PIP joint connecting rod 4, a near-section phalanx connecting rod 5, an MCP bending joint connecting rod 6, a lateral expansion phalanx connecting rod 7, an MCP lateral expansion joint connecting rod 8 and a finger support 9 which are sequentially connected in a hinged manner from a far end to a near end; distal here refers to a direction away from the palm, such as the finger tip; proximal refers to the direction approaching the palm of the hand, such as the root of the finger.
As shown in fig. 3, the distal phalanx connecting rod 1 includes a left distal phalanx end plate 101 and a right distal phalanx end plate 102 fixedly connected, specifically, fixedly connected by a mounting screw 16. The proximal edges of the left distal phalanx end plate 101 and the right distal phalanx end plate 102 are provided with gear teeth of an incomplete gear; the incomplete gear is not a whole circular gear, only the gear tooth part of the partial sector gear can meet the use requirement, and the same shall apply to the following description.
In this example, the movable pulley block 19 is mounted at the inner proximal ends of the left distal phalanx end plate 101 and the right distal phalanx end plate 102; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 being mounted by a fixed pin 12 parallel to a hinge axis 23 between the links. The movable pulley block 19 used in the distal phalangeal link 1 of this example has a pulley 13.
As shown in fig. 4, the DIP joint link 2 and PIP joint link 4 are constructed so that DIP is medically referred to as the distal interphalangeal joint. The distal interphalangeal joint is positioned between the middle phalanx and the distal phalanx. PIP refers medically to the proximal interphalangeal joint, which is positioned between the middle phalanx and the proximal phalanx.
The DIP joint connecting rod 2 and the PIP joint connecting rod 4 respectively comprise two parallel shaft sleeves and a fixed connecting plate.
As shown in fig. 5, the middle phalanx connecting rod 3 comprises a left middle phalanx end plate 301 and a right middle phalanx end plate 302 which are fixedly connected, specifically, fixedly connected by a mounting screw 16. The distal and proximal edges of the left and right middle phalangeal end plates 301, 302 are provided with gear teeth of an incomplete gear.
In this example, the proximal end of the distal phalanx connecting rod 1 is hinged to the distal end of the middle phalanx connecting rod 3 through the DIP joint connecting rod 2, and specifically, the proximal end of the distal phalanx connecting rod 1 is hinged to the distal end of the DIP joint connecting rod 2 through a hinge shaft 23; the axes of the incomplete gears of the proximal sides of the left distal phalanx end plate 101 and the right distal phalanx end plate 102 are coaxial with this hinge shaft 23. The proximal end of the DIP joint link 2 is hinged to the distal end of the middle phalanx link 3 by a hinge shaft 23, and the axes of the incomplete gears on the distal sides of the left middle phalanx end plate 301 and the right middle phalanx end plate 302 are coaxial with the hinge shaft 23. The two pairs of incomplete gears are meshed with each other to form a rolling joint connected in a rolling motion. Since the gear set engagement mechanism couples the three links of the distal phalangeal link 1, the middle phalangeal link 3, and the DIP joint link 2, the rotational angle between each two links is the same, and thus can be collectively regarded as a rolling joint.
In this example, the movable pulley block 19 is mounted at the inner proximal ends of the left middle phalanx end plate 301 and the right middle phalanx end plate 302; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 is arranged through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods, and a second guide pulley 24 is further arranged on the fixed pin shaft 12; in this example, the movable pulley block 19 here comprises two pulleys 13.
In this example, the fixed pulley blocks 20 are mounted at the inner distal ends of the left middle phalanx end plate 301 and the right middle phalanx end plate 302; the fixed pulley block 20 includes at least one pulley 13, and the pulley 13 is mounted through a fixed pin 12 parallel to a hinge shaft 23 between the links. In this example, the stationary pulley block 20 has a pulley 13. The fixed pulley block 20 here forms a tension amplifying device 10 described below with the movable pulley block 19 at the proximal end of the distal phalangeal link 1.
As shown in fig. 6, the proximal phalanx connecting rod 5 includes a left proximal phalanx end plate 501 and a right proximal phalanx end plate 502 fixedly connected, specifically, by a mounting screw 16. The distal and proximal edges of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502 are provided with gear teeth of an incomplete gear.
In this example, the proximal end of the middle phalanx connecting rod 3 is hinged with the distal end of the proximal phalanx connecting rod 5 through the PIP joint connecting rod 4, specifically, the proximal end of the middle phalanx connecting rod 3 is hinged with the distal end of the PIP joint connecting rod 4 through a hinge shaft 23; the axes of the incomplete gears of the proximal sides of the left and right middle phalangeal endplates 301, 302 are coaxial with this hinge shaft 23. The proximal end of PIP joint link 4 is hinged to the distal end of proximal phalanx link 5 by a hinge shaft 23, and the axes of the incomplete gears on the distal sides of left proximal phalanx end plate 501 and right proximal phalanx end plate 502 are coaxial with this hinge shaft 23. The two pairs of incomplete gears are meshed with each other to form a rolling joint connected in a rolling motion. Since the gear set engagement mechanism couples the three links of the middle phalangeal link 3, the proximal phalangeal link 5, and the PIP joint link 4, the rotational angle between each two links is the same and can be considered together as a rolling joint.
In this example, the movable pulley block 19 is mounted at the inner proximal ends of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502; the movable pulley block 19 comprises at least one pulley 13, and the pulley 13 is arranged through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods; in this example, the movable pulley block 19 here comprises two pulleys 13.
In this example, the fixed pulley blocks 20 are installed at the distal ends in the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502; the fixed pulley block 20 comprises at least one pulley 13, the pulley 13 is installed through a fixed pin shaft 12 parallel to a hinge shaft 23 between the connecting rods, and a second guide pulley 24 is further arranged on the fixed pin shaft 12. In this example, the stationary pulley block 20 here comprises two pulleys 13. The fixed pulley block 20 here forms a tension amplifying device 10 described below with the movable pulley block 19 at the proximal end of the middle phalangeal link 3.
In this example, a set of first guide pulleys 22 are further installed in the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502 through two guide distribution pins 21 respectively. The two guide distribution pins 21 are also parallel to the hinge axis 23.
As shown in fig. 7, the MCP bends the structure of the joint link 6, and as shown in fig. 8, the MCP laterally expands the structure of the joint link 8, and the MCP is medically referred to as metacarpophalangeal joint. The metacarpophalangeal joints are located between the proximal phalangeal bones and the palmar phalangeal bones. The motion mode comprises bending and lateral expansion, so that the joint connecting rod is realized by matching two structures of the MCP bending joint connecting rod 6 and the MCP lateral expansion joint connecting rod 8.
As shown in fig. 7, the MCP bending joint link 6 includes a left MCP joint endplate 601 and a right MCP joint endplate 602 connected by two connecting posts 603; and a set of first guide pulleys 22 are provided on the hinge shaft 23 between the left MCP joint end plate 601 and the right MCP joint end plate 602. Here a set of first guide pulleys 22 comprises two.
As shown in fig. 8, the MCP side-expanding joint link 8 includes two parallel bushings and a fixed connection plate. The sleeve may be formed of two sections, with a rope being threaded therebetween.
As shown in fig. 9, the lateral phalangeal connecting rod 7 includes a left lateral phalangeal end plate 701, a right lateral phalangeal end plate 702, an upper lateral phalangeal end plate 703 and a lower lateral phalangeal end plate 704 which are fixedly connected by a mounting screw 16. The distal edges of the left and right phalangeal end plates 701, 702 are provided with gear teeth of an incomplete gear; the proximal edges of the upper and lower phalangeal end plates 703, 704 are provided with gear teeth of an incomplete gear.
In this example, the proximal end of the proximal phalanx connecting rod 5 is hinged with the distal end of the lateral phalanx connecting rod 7 through the MCP bending joint connecting rod 6, specifically, the proximal end of the proximal phalanx connecting rod 5 is hinged with the distal end of the MCP bending joint connecting rod 6 through a hinge shaft 23; the axes of the incomplete gears of the proximal sides of the left proximal phalanx end plate 501 and the right proximal phalanx end plate 502 are coaxial with this hinge shaft 23. The proximal end of the MCP bending joint link 6 is hinged to the distal end of the lateral phalangeal link 7 by a hinge shaft 23, and the axes of the incomplete gears of the distal edges of the left and right phalangeal endplates 701, 702 are coaxial with this hinge shaft 23. The two pairs of incomplete gears are meshed with each other to form a rolling joint connected in a rolling motion. Since the gear set engagement mechanism couples the three links of the proximal phalangeal link 5, the laterally expanding phalangeal link 7, and the MCP flexion articulation link 6, the rotational angle between each two links is the same and can be considered together as a rolling joint.
In this example, the fixed pulley blocks 20 are mounted at the distal ends of the left and right phalangeal end plates 701, 702; the fixed pulley block 20 comprises at least one pulley 13, and the pulley 13 is arranged through a fixed pin shaft 12 which is parallel to a hinge shaft 23 between the connecting rods; in this example, the stationary pulley block 20 here comprises two pulleys 13. The stationary pulley block 20 here forms a tension amplifying device 10 described below with the movable pulley block 19 at the proximal end of the proximal phalangeal link 5.
The movable pulley blocks 19 are arranged at the inner proximal ends of the upper spread phalangeal end plate 703 and the lower spread phalangeal end plate 704; the movable pulley block 19 comprises at least one pulley 13, the pulley 13 being mounted by a fixed pin 12 parallel to a hinge axis 23 between the links. In this example, the movable pulley block 19 here comprises two pulleys 13.
As shown in fig. 10, the finger rest 9 includes an upper finger rest end plate 901 and a lower finger rest end plate 902 fixedly connected into a frame by two limiting plates 17; in particular by means of a mounting screw 16. The distal edges of the upper finger rest end plate 901 and the lower finger rest end plate 902 are provided with gear teeth of an incomplete gear.
In this example, the proximal end of the lateral expansion phalangeal link 7 is hinged with the distal end of the finger support 9 through the MCP lateral expansion joint link 8, specifically, the proximal end of the lateral expansion phalangeal link 7 is hinged with the distal end of the MCP lateral expansion joint link 8 through a hinge shaft 23; the axes of the incomplete gears of the proximal sides of the superior and inferior phalangeal endplates 703, 704 are coaxial with this hinge shaft 23. The proximal end of the MCP flexion articulation link 6 is articulated to the distal end of the finger rest 9 by an articulation axis 23, and the axes of the incomplete gears on the distal edges of the upper and lower finger rest end plates 901, 902 are coaxial with this articulation axis 23. The two pairs of incomplete gears are meshed with each other to form a rolling joint connected in a rolling motion. Since the gear set engagement mechanism couples the three links of the laterally expanding phalangeal link 7, the finger rest 9 and the MCP laterally expanding joint link 8, the rotational angle between each two links is the same and can be considered together as a rolling joint.
In this example, the two limiting plates 17 are provided with a plurality of rope through holes, so that different ropes can pass through conveniently, and mutual interference is prevented.
The fixed pulley block 20 is arranged at the far end in the upper finger support end plate 901 and the lower finger support end plate 902; the fixed pulley block 20 includes at least one pulley 13, and the pulley 13 is mounted through a fixed pin 12 parallel to a hinge shaft 23 between the links. In this example, the stationary pulley block 20 here comprises two pulleys 13. The stationary pulley block 20 here forms a tension amplifying device 10 described below with the movable pulley block 19 at the proximal end of the laterally expanding phalangeal link 7.
It can be seen that the finger is formed by sequentially connecting 9 connecting rods which are formed by 9 connecting rods, so as to form a main body part of the finger, wherein the far phalangeal connecting rod 1, the middle phalangeal connecting rod 3, the near phalangeal connecting rod 5, the lateral spread phalangeal connecting rod 7 and the finger support 9 are meshed through gears, and the adjacent two groups of connecting rods realize the rotation of the connecting rods through the rolling motion of the gears, and the finger is specifically:
the distal phalanx connecting rod 1 and the middle phalanx connecting rod 3 are meshed through gears, and meanwhile, the central shafts of the two groups of gears are hinged by the DIP joint connecting rod 2, so that relative sliding and separation between the distal phalanx connecting rod 1 and the middle phalanx connecting rod 3 are avoided.
The middle phalanx connecting rod 3 and the near phalanx connecting rod 5 are meshed through gears, and meanwhile, the central shafts of the two groups of gears are hinged by the PIP joint connecting rod 4, so that the middle phalanx connecting rod 3 and the near phalanx connecting rod 5 are prevented from sliding and separating relatively.
The proximal phalanx connecting rod 5 and the lateral phalanx connecting rod 7 are meshed through gears, and meanwhile, the central shafts of the two groups of gears are hinged by the MCP bending joint connecting rod 6, so that relative sliding and separation between the proximal phalanx connecting rod 5 and the lateral phalanx connecting rod 7 are avoided.
The lateral expansion phalangeal connecting rod 7 and the finger base 9 are meshed through gears, and meanwhile, the central shafts of the two groups of gears are hinged by the MCP lateral expansion joint connecting rod 8, so that the lateral expansion phalangeal connecting rod 7 and the finger base 9 are prevented from sliding and separating relatively.
In combination with the above structure, the rolling joints are connected between the two side end plates of the far-section phalanx connecting rod 1 and the middle-section phalanx connecting rod 3, between the two side end plates of the middle-section phalanx connecting rod 3 and the near-section phalanx connecting rod 5, between the two side end plates of the near-section phalanx connecting rod 5 and the lateral expansion phalanx connecting rod 7, and between the lateral expansion phalanx connecting rod 7 and the upper end plate and the lower end plate of the finger support 9 through gear meshing.
Tension amplifying devices 10 are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one end of each of the 8 ropes is respectively fixed in a connecting rod at the relative near end, the other end is wound around the tension amplifying device 10 and then extends to the near end to be led out by the finger support 9, and then the other end is connected with the control mechanism, and the movement of fingers is realized by each rope of the control mechanism.
As shown in fig. 11, referring to the above description, the tension amplifying device 10 includes a fixed pulley block 20 and a movable pulley block 19; the fixed pulley block 20 is arranged in a finger bone connecting rod or a finger support at the near end through a guide distribution pin shaft 21 which is parallel to a hinge shaft 23 among connecting rods of the rolling joint; the movable pulley block 19 is arranged in the distal phalangeal connecting rod through a guiding distribution pin shaft 21 parallel to the hinge shaft among the connecting rods of the rolling joint.
One end of the rope is fixed in a connecting rod provided with the fixed pulley block 20 and can be fixedly connected through a rope anchoring screw 15; the other end of the finger support extends proximally and is led out by the finger support 9 by repeatedly passing around the fixed pulley block 20 and each pulley of the fixed pulley block 20.
In this example, the tension amplifying device 10 is composed of a rope, a movable pulley block 19 and a fixed pulley block 20, wherein the movable pulley block 19 and the fixed pulley block 20 are arranged between two phalangeal connecting rods of each joint, the tension of the rope wound on the movable pulley block 19 and the fixed pulley block 20 is amplified, and the tension amplification factor is equal to the number of the ropes after winding; the rotation of the joint is achieved by the movement of the movable pulley block 19, the tension on the movable pulley block 19 being equal to the resultant force of the amplified rope, thus increasing the torque acting on the joint.
The two tension amplifying devices 10 are respectively arranged at two sides of the phalangeal connecting rod, ropes of the two tension amplifying devices 10 are connected to the same traction motor, and the movement of the joint is realized through one motor; when the motor pulls the rope of the pulley block of one of the two tension amplifying devices 10, the rope of the pulley block of the other two tension amplifying devices 10 is released, and the rope length change of the rope pulling end is equal to the rope length change of the rope releasing end because the movable pulley block 19 and the fixed pulley block 20 of the two tension amplifying devices 10 are arranged in the central symmetry direction of the hinge shaft 23, namely, the diameter direction symmetry of the phalangeal gear.
The invention realizes the amplification of the rope tension at the joint by installing the rope tension amplifying device 10 at the joint of the finger; decoupling of the rope length of the tension amplifying device 10 is realized through the gear rolling joint, and forward and reverse movement of a joint is pulled by using one rope; the rope length decoupling pulley 22 is arranged at the middle joint, so that the rope length decoupling of the remote joint traction rope at the middle joint is realized, and the motion of each joint is ensured to be independent; the finger has the same size and freedom as a human hand, and can realize high tension.
In this example, referring to fig. 2, the rope is pulled in several ways:
1. Referring to fig. 10, as shown in fig. 12, two tension amplifying devices 10 at the rolling joint between the lateral phalangeal connecting rod 7 and the finger support 9 are led out, two ropes are led out from the finger support 9, specifically from the through holes on the limiting plate 17, and different ropes pass through different through holes. The fixed pulley block 20 and the movable pulley block 19 of the tension amplifying device 10 are respectively provided with two pulleys 13; the rope is a wire control rope 11, one end of the wire control rope 11 is fixed on the inner side of the finger support 9, and the wire control rope 11 can be fixedly connected through a rope anchoring screw 15; the other end of the rope is reciprocated around the fixed pulley block 20 and each pulley 13 of the fixed pulley block 20, the rope 11 guided out by the tension amplifying device 10 is directly guided out from the finger support 9 to the palm, and is connected with the control mechanism, the rope guiding-out ring 14 is also arranged, the rope 11 passes through the through hole of the rope guiding-out ring 14 to limit the position of the rope 11, and mutual interference is prevented; the traction mode of the group of ropes realizes the active independent movement of the joints of the lateral phalangeal connecting rod 7 and the finger support 9; i.e. a lateral distraction of the joint is achieved.
2. As shown in fig. 13, two tension amplifying devices 10 at the rolling joints of the proximal phalangeal connecting rod 5 and the lateral phalangeal connecting rod 7 are led out, two ropes are led out from the finger support 9, specifically from the through holes on the limiting plate 17, and different ropes pass through different through holes. The fixed pulley block 20 and the movable pulley block 19 of the tension amplifying device 10 are respectively provided with two pulleys 13; the rope is a wire control rope 11, one end of the wire control rope 11 is fixed on the inner side of the lateral phalangeal connecting rod 7, and the wire control rope 11 can be fixedly connected through a rope anchoring screw 15; the other end of the rope is reciprocated around the fixed pulley block 20 and each pulley 13 of the fixed pulley block 20, the rope 11 led out by the tension amplifying device 10 is led out from the lateral phalangeal connecting rod 7 to the near end, a rope leading-out ring 14 is also arranged, the rope 11 passes through a through hole of the rope leading-out ring 14 to limit the position of the rope 11, and mutual interference is prevented; the finger support 9 is led out into the palm and connected with the control mechanism, and the traction mode of the group of ropes realizes the active independent movement of the joints of the proximal phalangeal connecting rod 5 and the lateral phalangeal connecting rod 7; i.e. a bending movement of the joint is achieved.
3. As shown in fig. 14, two tension amplifying devices 10 at the rolling joints of the middle phalanx connecting rod 3 and the near phalanx connecting rod 5 are led out, two ropes are led out from the finger support 9, in particular to through holes on the limiting plate 17, and different ropes pass through different through holes. The fixed pulley block 20 and the movable pulley block 19 of the tension amplifying device 10 are respectively provided with two pulleys 13; the rope is a wire control rope 11, one end of the wire control rope 11 is fixed on the inner side of the proximal phalanx connecting rod 5, and the wire control rope can be fixedly connected through a rope anchoring screw 15; the other end of the rope is reciprocated around the fixed pulley block 20 and each pulley 13 of the fixed pulley block 20, the rope 11 led out by the tension amplifying device 10 is led out from the proximal phalangeal connecting rod 5 to the proximal end, a rope leading-out ring 14 is also arranged, the rope 11 passes through a through hole of the rope leading-out ring 14 to limit the position of the rope 11 and prevent mutual interference; the MCP bending joint connecting rod 6 is respectively led into the guide distribution pin shaft 21 by bypassing the first guide pulley 22; a group of first guide pulleys 22 are arranged on the hinge shaft 23 of the MCP bending joint connecting rod 6; the wire control rope 11 bypasses the first guide pulleys 22 arranged on the two hinge shafts of the MCP bending joint connecting rod 6 along the S path from outside to inside to outside, extends to the finger support 9 for leading out, and is provided with a rope leading-out ring 14 at a reasonable position along the path of the wire control rope 11 to limit the position thereof so as to prevent mutual interference; the traction mode of the group of ropes realizes the active independent movement of the joints of the middle phalanx connecting rod 3 and the near phalanx connecting rod 5; i.e. a bending movement of the joint is achieved.
4. As shown in fig. 15, two tension amplifying devices 10 at the rolling joints of the distal phalanx connecting rod 1 and the middle phalanx connecting rod 3 are led out, two ropes are led out from the finger support 9, specifically from the through holes on the limiting plate 17, and different ropes pass through different through holes. The fixed pulley block 20 and the movable pulley block 19 of the tension amplifying device 10 are provided with a pulley 13; the rope is a coupling rope 18, one end of the coupling rope 18 is fixed on the inner side of the middle phalangeal connecting rod 3, and the coupling rope can be fixedly connected through a rope anchoring screw 15; the other end of the coupling rope 18 which is amplified by 2 times and guided by the tension amplifying device 10 is crossed in the middle phalanx connecting rod 3 and then is wound by the outer sides of the two tension amplifying devices 10 at the rolling joint between the middle phalanx connecting rod 3 and the near phalanx connecting rod 5 by reciprocally winding the fixed pulley block 20 and each pulley 13 of the fixed pulley block 20; the fixed pin shafts 12 of the two tension amplifying devices 10 are also provided with second guide pulleys 24, the two coupling ropes 18 respectively bypass the two second guide pulleys 24, respectively bypass the first guide pulleys 22 on the guide distribution pin shafts 21, respectively bypass the first guide pulleys 22 arranged on the two hinge shafts of the MCP bending joint connecting rod 6 along an external-internal-external S path, and extend to the finger support 9 for extraction; the rope leading-out ring 14 is arranged at a reasonable position of the path of the coupling rope 18 to limit the position thereof, so as to prevent mutual interference; the traction mode of the group of ropes realizes the active independent movement of the joints of the distal phalangeal connecting rod 1 and the middle phalangeal connecting rod 3; i.e. a bending movement of the joint is achieved. At the same time, the motions of the DIP joint and the PIP joint are coupled through the cross coupling ropes,
With the above arrangement, the finger has 4 joints, 3 active degrees of freedom and 1 coupling degree of freedom.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The information disclosed in the background section herein is only for enhancement of understanding of the general background of the invention and is not to be taken as an admission or any form of suggestion that this information forms the prior art already known to those of ordinary skill in the art.
Claims (10)
1. A finger structure assembly for rope pulls dexterous hand which characterized in that: the device comprises a far-section phalanx connecting rod (1), a DIP joint connecting rod (2), a middle-section phalanx connecting rod (3), a PIP joint connecting rod (4), a near-section phalanx connecting rod (5), an MCP bending joint connecting rod (6), a lateral expansion phalanx connecting rod (7), an MCP lateral expansion joint connecting rod (8) and a finger support (9) which are sequentially hinged from the far end to the near end;
Rolling joints for realizing rolling motion connection through gear meshing between two side end plates of the far-section phalanx connecting rod (1) and the middle-section phalanx connecting rod (3), between two side end plates of the middle-section phalanx connecting rod (3) and the near-section phalanx connecting rod (5), between two side end plates of the near-section phalanx connecting rod (5) and the lateral expansion phalanx connecting rod (7) and between the lateral expansion phalanx connecting rod (7) and the upper end plate and the lower end plate of the finger support (9);
Tension amplifying devices (10) are symmetrically arranged on two sides of the rolling joint along the rolling direction respectively; one ends of the 8 ropes are respectively fixed in the connecting rods at the relative near ends, the other ends are wound around the tension amplifying device (10) and then extend to the near ends to be led out by the finger support (9), and then are connected with the control mechanism, and the movement of fingers is realized by the ropes of the control mechanism.
2. The finger structure assembly for a rope hauling dexterous hand of claim 1, wherein: the tension amplifying device (10) comprises a fixed pulley block (20) and a movable pulley block (19); the fixed pulley block (20) is arranged in a finger bone connecting rod or a finger support at the near end through a guide distribution pin shaft (21) parallel to a hinge shaft (23) among connecting rods of the rolling joint;
the movable pulley block (19) is arranged in the distal phalangeal connecting rod through a guide distribution pin shaft (21) parallel to the hinge shaft among the connecting rods of the rolling joint;
one end of the rope is fixed in a connecting rod provided with the fixed pulley block (20), the other end of the rope repeatedly bypasses the fixed pulley block (20) and each pulley of the fixed pulley block (20), extends towards the near end and is led out by the finger support (9).
3. The finger structure assembly for a rope hauling dexterous hand of claim 2, wherein: two ropes led out by two tension amplifying devices (10) at the rolling joint between the far phalangeal connecting rod (1) and the middle phalangeal connecting rod (3) are crossed in the middle phalangeal connecting rod (3) and then are wound around by the outer sides of the two tension amplifying devices (10) at the rolling joint between the middle phalangeal connecting rod (3) and the near phalangeal connecting rod (5), respectively wound around a first guide pulley (22) on a guide distribution pin shaft (21), and then wound around a first guide pulley (22) arranged on two hinge shafts of the MCP bending joint connecting rod (6) along an S path from outside to inside to outside, and extend to a finger support (9) for leading out; and/or;
Two ropes led out by two tension amplifying devices (10) at the rolling joint between the middle phalanx connecting rod (3) and the near phalanx connecting rod (5) respectively bypass a first guide pulley (22) on a guide distribution pin shaft (21), then bypass a first guide pulley (22) arranged on two hinge shafts of the MCP bending joint connecting rod (6) along an outer-inner-outer S path, and extend to a finger support (9) for leading out; and/or;
Two ropes led out of two tension amplifying devices (10) at the rolling joint between the proximal phalanx connecting rod (5) and the lateral phalanx connecting rod (7) extend to the finger support (9) for leading out; and/or;
two ropes led out by two tension amplifying devices (10) at the rolling joint between the lateral spread phalangeal connecting rod (7) and the finger support (9) are led out from the finger support (9).
4. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1,2 or 3 wherein: the distal phalanx connecting rod (1) comprises a left distal phalanx end plate (101) and a right distal phalanx end plate (102) which are fixedly connected, and the proximal edges of the left distal phalanx end plate (101) and the right distal phalanx end plate (102) are provided with gear teeth of an incomplete gear;
The movable pulley blocks (19) are arranged at the inner proximal ends of the left distal phalanx end plate (101) and the right distal phalanx end plate (102); the movable pulley block (19) comprises at least one pulley (13), and the pulley (13) is installed through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods.
5. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1,2 or 3 wherein: the middle phalanx connecting rod (3) comprises a left middle phalanx end plate (301) and a right middle phalanx end plate (302) which are fixedly connected, and the far end edge and the near end edge of the left middle phalanx end plate (301) and the right middle phalanx end plate (302) are respectively provided with gear teeth of an incomplete gear;
The movable pulley blocks (19) are arranged at the inner proximal ends of the left middle phalanx end plate (301) and the right middle phalanx end plate (302); the movable pulley block (19) comprises at least one pulley (13), the pulley (13) is arranged through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods, and a second guide pulley (24) is further arranged on the fixed pin shaft (12);
The fixed pulley blocks (20) are arranged at the inner distal ends of the left middle phalanx end plate (301) and the right middle phalanx end plate (302); the fixed pulley block (20) comprises at least one pulley (13), and the pulley (13) is installed through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods.
6. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1,2 or 3 wherein: the proximal phalanx connecting rod (5) comprises a left proximal phalanx end plate (501) and a right proximal phalanx end plate (502) which are fixedly connected, and the distal end edge and the proximal end edge of the left proximal phalanx end plate (501) and the right proximal phalanx end plate (502) are respectively provided with gear teeth of an incomplete gear;
The movable pulley blocks (19) are arranged at the inner proximal ends of the left proximal phalanx end plate (501) and the right proximal phalanx end plate (502); the movable pulley block (19) comprises at least one pulley (13), and the pulley (13) is arranged through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods;
The fixed pulley blocks (20) are arranged at the inner distal ends of the left proximal phalanx end plate (501) and the right proximal phalanx end plate (502); the fixed pulley block (20) comprises at least one pulley (13), the pulley (13) is installed through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods, and a second guide pulley (24) is further arranged on the fixed pin shaft (12).
7. The finger structure assembly for a rope hauling dexterous hand of claim 6, wherein: a group of first guide pulleys (22) are respectively arranged in the left proximal phalanx end plate (501) and the right proximal phalanx end plate (502) through two guide distribution pin shafts (21).
8. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1, 2 or 3 wherein: the lateral expansion phalangeal connecting rod (7) comprises a left lateral expansion phalangeal end plate (701), a right lateral expansion phalangeal end plate (702), an upper lateral expansion phalangeal end plate (703) and a lower lateral expansion phalangeal end plate (704) which are fixedly connected, and gear teeth of an incomplete gear are arranged at the distal end edges of the left lateral expansion phalangeal end plate (701) and the right lateral expansion phalangeal end plate (702); the proximal edges of the upper spreading phalangeal end plate (703) and the lower spreading phalangeal end plate (704) are provided with gear teeth of an incomplete gear;
The fixed pulley blocks (20) are arranged at the inner distal ends of the left spread phalangeal end plate (701) and the right spread phalangeal end plate (702); the fixed pulley block (20) comprises at least one pulley (13), and the pulley (13) is arranged through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods;
The movable pulley blocks (19) are arranged at the inner proximal ends of the upper spread phalangeal end plate (703) and the lower spread phalangeal end plate (704); the movable pulley block (19) comprises at least one pulley (13), and the pulley (13) is installed through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods.
9. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1,2 or 3 wherein: the finger support (9) comprises an upper finger support end plate (901) and a lower finger support end plate (902) which are fixedly connected into a frame through two limiting plates (17); the far end edges of the upper finger support end plate (901) and the lower finger support end plate (902) are provided with gear teeth of an incomplete gear;
The upper finger support end plate (901) and the lower finger support end plate (902) are internally and distally provided with fixed pulley blocks (20); the fixed pulley block (20) comprises at least one pulley (13), and the pulley (13) is installed through a fixed pin shaft (12) parallel to a hinge shaft (23) between the connecting rods.
10. A finger structure assembly for a rope hauling dexterous hand as claimed in claim 1,2 or 3 wherein: the MCP bending joint connecting rod (6) comprises a left MCP joint end plate (601) and a right MCP joint end plate (602) which are connected through two connecting columns (603); and a group of first guide pulleys (22) are arranged on a hinge shaft (23) between the left MCP joint end plate (601) and the right MCP joint end plate (602).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410581195.7A CN118163133A (en) | 2024-05-11 | 2024-05-11 | Finger structure assembly for rope traction dexterous hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410581195.7A CN118163133A (en) | 2024-05-11 | 2024-05-11 | Finger structure assembly for rope traction dexterous hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118163133A true CN118163133A (en) | 2024-06-11 |
Family
ID=91355103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410581195.7A Pending CN118163133A (en) | 2024-05-11 | 2024-05-11 | Finger structure assembly for rope traction dexterous hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118163133A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150190246A1 (en) * | 2012-08-02 | 2015-07-09 | Korea University Of Technology And Education Industry-University Cooperation Foundation | Motion control device based on winding string |
| US20180168907A1 (en) * | 2016-12-20 | 2018-06-21 | Rehabotics Medical Technology Corporation | Wearable hand rehabilitation system |
| CN109542236A (en) * | 2018-12-05 | 2019-03-29 | 合肥工业大学 | Ectoskeleton gloves with finger position synchro measure and finger tip force feedback function |
| US20200206947A1 (en) * | 2018-12-31 | 2020-07-02 | Sarcos Corp. | Robotic End Effector with Dorsally Supported Actuation Mechanism |
| CN112091954A (en) * | 2019-06-17 | 2020-12-18 | 中国科学技术大学 | Bionic dexterous hand and control method thereof |
| CN112809721A (en) * | 2020-08-31 | 2021-05-18 | 合肥工业大学 | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration |
| CN114010459A (en) * | 2021-11-08 | 2022-02-08 | 北京理工大学 | Exoskeleton rehabilitation manipulator |
| CN116617048A (en) * | 2023-05-23 | 2023-08-22 | 合肥工业大学 | Rope-driven hand rehabilitation exoskeleton and rehabilitation training method thereof |
-
2024
- 2024-05-11 CN CN202410581195.7A patent/CN118163133A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150190246A1 (en) * | 2012-08-02 | 2015-07-09 | Korea University Of Technology And Education Industry-University Cooperation Foundation | Motion control device based on winding string |
| US20180168907A1 (en) * | 2016-12-20 | 2018-06-21 | Rehabotics Medical Technology Corporation | Wearable hand rehabilitation system |
| CN109542236A (en) * | 2018-12-05 | 2019-03-29 | 合肥工业大学 | Ectoskeleton gloves with finger position synchro measure and finger tip force feedback function |
| US20200206947A1 (en) * | 2018-12-31 | 2020-07-02 | Sarcos Corp. | Robotic End Effector with Dorsally Supported Actuation Mechanism |
| CN112091954A (en) * | 2019-06-17 | 2020-12-18 | 中国科学技术大学 | Bionic dexterous hand and control method thereof |
| CN112809721A (en) * | 2020-08-31 | 2021-05-18 | 合肥工业大学 | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration |
| CN114010459A (en) * | 2021-11-08 | 2022-02-08 | 北京理工大学 | Exoskeleton rehabilitation manipulator |
| CN116617048A (en) * | 2023-05-23 | 2023-08-22 | 合肥工业大学 | Rope-driven hand rehabilitation exoskeleton and rehabilitation training method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2019419409B2 (en) | Robotic end effector with dorsally supported actuation mechanism | |
| CN108272537A (en) | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand | |
| EP2858791B1 (en) | An exoskeleton structure for physical interaction with a human being | |
| JPWO2012039479A1 (en) | Humanoid electric hand | |
| CN102257292A (en) | Linearly moving extendable mechanism and robot arm equipped with linearly moving extendable mechanism | |
| JP3759916B2 (en) | Electric prosthesis | |
| CN111194254B (en) | Drive assembly for moving a body part | |
| CN109498373B (en) | Wearable hand rehabilitation robot | |
| DE102020207037A1 (en) | Grapple | |
| CN111803328A (en) | Full upper limb exoskeleton rehabilitation robot | |
| Mishima et al. | Design of a robotic finger using series gear chain mechanisms | |
| CN114536381B (en) | Human-simulated five-finger dexterous hand | |
| JP4729745B2 (en) | Robot drive mechanism and robot hand | |
| CN118163133A (en) | Finger structure assembly for rope traction dexterous hand | |
| CN111923068B (en) | Finger joint of tendon-driven dexterous hand | |
| CN209933083U (en) | Wearable elastic rigid composite rod artificial limb finger | |
| CN110538015B (en) | Mechanical artificial limb arm | |
| CN210998696U (en) | Exoskeleton mechanical auxiliary hand | |
| CN116407215A (en) | Wearable multi-degree-of-freedom bendable surgical instrument | |
| CN111529148B (en) | Bionic thumb device | |
| CN113084851A (en) | Anthropomorphic finger mechanism | |
| CN210145022U (en) | Finger motion rehabilitation device pulled by steel wire rope | |
| CN114617746B (en) | Hand rehabilitation exoskeleton with multi-section continuous structure | |
| CN112656641A (en) | Wearing formula outer limb finger of cerebral apoplexy patient | |
| Gao et al. | Mechanically programmable jamming based on articulated mesh structures for variable stiffness robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |