CN203988512U - One is done evil through another person - Google Patents

Abstract

This utility model relates to one does evil through another person, and comprises palm body, driver element, finger unit and thumb element.Driver element is located in palm body, comprise reducing motor, drive mechanism and drive plate, finger unit and thumb element all realize the flexion and extension of finger by bar linkage structure and chain connection mode, thumb element has also realized the interior receipts abduction exercise of thumb by turbine and worm engagement transmission mechanism in addition.This utility model only uses a motor can realize the flexion and extension of three fingers, compares and uses doing evil through another person of many motors, and weight alleviates to some extent.Meanwhile, this utility model is mainly realized the motion of each finger by bar linkage structure, and the processing cost of bar linkage structure is lower, makes the cost of doing evil through another person, and more adapts to consumer demand.In addition, because driver part in this utility model is all located in palm cavity, also can not affect wrist activity, and of the present utility model doing evil through another person can realize multiple daily common actions, therefore strengthen the practicality of doing evil through another person.

Description

One is done evil through another person

Technical field

This utility model relates to medical instruments field, and specifically one is done evil through another person.

Background technology

At present, all kinds of natural disasters and accident cause amputee's quantity constantly soaring, and the various life stresss that just face at present, a lot of amputees wish to select to wear artificial limb, complete more corresponding actions, improve the capability of finding employment of self.In the foreign literature of 2005, there is report, in network surveying questionnaire, investigate dressing the crowd who does evil through another person, the strength of daily life grasps and accounts for 35%, essence is pinched and accounted for 30%, side is pinched and is accounted for 20%, other actions are also applied more as forefinger is stretched, hook-shaped grasping etc., so the research direction of manually doing evil through another person is all progressively to commercialized development, and when expecting to complete the common actions in daily life, have the advantages that quality is light, cost is low, practical.

It is mostly, at the base joint of each finger, a micromachine is installed that the external existing commercialization with certain function is done evil through another person, the flexibility ratio of finger is high, can do separately the great majority action that staff can complete, but multiple motors have increased the weight of doing evil through another person and the cost of doing evil through another person undoubtedly, and the signal of amputee's stump is very limited, there is certain difficulty in the control that the input of many signals is done evil through another person; Although mono signal input also can complete some actions, for the price of its great number, the amputee more than vertical also can only hope into not and.

Existing the doing evil through another person of other adopts single motor to drive quadric chain to realize compared with the grasping of great dynamics, but can only realize the holding action of hand, and function limitation, can not complete the side pinching of doing evil through another person and do.

Also have some existing doing evil through another person to adopt the disc type electric machine of large-scale repacking to be placed in palm, drive thumb and forefinger middle finger, can realize the grasping of larger strength; Thumb is realized interior receipts abduction by a micro-machine separately, and owing to adopting repacking motor, its price is also higher.

The single-bar mechanism that the finger that also has some commercializations to do evil through another person all adopts, the body form grasping has larger restriction, and the weight that business is done evil through another person is compared with staff, all lay particular stress on a little, overall price is also higher, and some commercializations are done evil through another person because there are multiple motors, make its requirement have more control signal, it is more difficult that amputee reaches.

In addition, although there be owing to drive and doing evil through another person of novel development in a lot of pertinent literatures, there is self adaptation grip function, functional strong, weight is also lighter, because the defect (as poor in control stability etc.) of self all cannot realize commercialization.

Domestic existing doing evil through another person still in development and improvement stage, from the commercialization a certain distance of having done evil through another person.

In sum, the following problem of the ubiquity of doing evil through another person of prior art:

(1) number of motors is more, and the micro machine adopting, and cost is higher, and the quality of doing evil through another person lays particular stress on.

(2) for adopting jointed gear unit to realize doing evil through another person of finger motion, the action of finger grip object is less, and practicality is not strong.

(3) need many signal inputs just can complete accurate grasping, have relatively high expectations to controlling, amputee's stump signal possibly cannot ensure that signal is good.

Above reason cause existing do evil through another person be difficult in amputee universal, itself or there is expensive problem, or exist and can only realize the problem that grasps an action, or exist and be grasped in side direction and substantially do not pinch power, cause thumb passive exercise and unpractical problem.

For this reason, need a kind ofly can solve doing evil through another person of existing the problems referred to above in prior art, can realize the interior abduction of receiving by thumb, can realize the daily common actions such as grasping, essence are pinched, side is pinched, and there is the advantage that cost is low, quality is light and practical, thereby improve the commercialization potential of artificial limb, meet the needs of practical situation.

Utility model content

The purpose of this utility model is, provide one to do evil through another person, in solution prior art, existing the problems referred to above does evil through another person, can realize the interior abduction of receiving by thumb, can realize the daily common actions such as grasping, essence are pinched, side is pinched, and there is the advantage that cost is low, quality is light and practical, thereby improve the commercialization potential of artificial limb, meet the needs of practical situation.

This utility model provides one to do evil through another person, and comprises palm body, driver element, finger unit and thumb element;

Described palm body comprises the two palm lids that are oppositely arranged and connects the side cover of palm lid described in two, and described palm body is to enclose by palm lid described in two and described side cover the cavity forming;

Described driver element is arranged in described palm body, comprises drive motors, drive mechanism and drive plate, and described drive mechanism two ends connect respectively described drive motors and described drive plate;

Described finger unit comprises finger drive mechanism and finger structure, described finger drive mechanism comprises the first finger drive link, second finger drive link, the 3rd finger drive link, the first finger connector, second finger connector and finger connecting plate, and described finger structure comprises finger pedestal, the first finger dactylus, second finger dactylus, the 3rd finger connector and the 4th finger connector;

Described first finger drive link one end is fixedly connected with described drive plate, the other end is connected with one end of described second finger drive link, the other end of described second finger drive link is fixedly connected with described finger connecting plate, described finger connecting plate is provided with multiple junctions, one junction of described finger connecting plate is connected with described the first finger dactylus by described the first finger connector, another junction of described finger connecting plate is connected with one end of described the 3rd finger drive link, the other end of described the 3rd finger drive link is connected with described second finger dactylus by described second finger connector,

Described finger pedestal is fixedly arranged on the side cover of described palm body, and described finger pedestal is connected with one end of described the first finger dactylus by described the 3rd finger connector, the other end of described the first finger dactylus is connected with described second finger dactylus by described the 4th finger connector;

Described thumb element comprises thumb holder, thumb rotating basis, thumb drive mechanism and thumb structure, described thumb drive mechanism comprises the first thumb drive mechanism and the second thumb drive mechanism, described the first thumb drive mechanism comprises rotating shaft, turbine and worm screw, described the second thumb drive mechanism comprises the first thumb drive link, the second thumb drive link, middle finger drive link, the first thumb connector, the second thumb connector, thumb connecting plate, fork arm and slide block groove ring, wherein said fork arm is made up of fork and support bar portion, described slide block groove ring is established reeded annulus portion by connecting portion and outer surface and is formed, described thumb structure comprises thumb pedestal, the first thumb dactylus, the second thumb dactylus, middle finger connector and third finger connector,

The palm that described thumb holder is fixedly arranged on described palm body covers, described rotating shaft is fixedly arranged on described thumb rotating basis inside, and pass and be rotationally connected with described thumb holder from described thumb rotating basis bottom, described turbine is installed in the bottom of described rotating shaft, described worm screw and described turbine engaged transmission;

Described first thumb drive link one end is fixedly connected with described drive plate, the other end is fixedly connected with the support bar portion of described fork arm, the fork of described fork arm is plugged in the groove of described slide block groove ring and described fork is rotated around described groove, the annulus portion of described slide block groove ring is set in described rotating shaft outside, and described annulus portion moves up and down along the axis direction of described rotating shaft, the connecting portion of described slide block groove ring is connected with one end of described the second thumb drive link, the other end of described the second thumb drive link is fixedly connected with described thumb connecting plate, described thumb connecting plate is provided with multiple junctions, one junction of described thumb connecting plate is connected with described the first thumb dactylus by described the first thumb connector, another junction of described thumb connecting plate is connected with one end of described middle finger drive link, the other end of described middle finger drive link is connected with described the second thumb dactylus by described the second thumb connector,

Described thumb pedestal is fixedly arranged in described thumb rotating basis, and described thumb pedestal is connected with one end of described the first thumb dactylus by described middle finger connector, the other end of described the first thumb dactylus is connected with described the second thumb dactylus by described third finger connector.

Wherein, finger connecting plate is identical with the structure of thumb connecting plate, this connecting plate refers to the link that multiple junctions can be provided, on this connecting plate, be provided with multiple junctions, can be for example screwed hole or pan, miscellaneous part can be threaded connection, chain connection or the mode such as be fixedly connected with are connected with this connecting plate respectively, and then completes corresponding transmission campaign.

Further, in described in the utility model doing evil through another person, described drive motors horizontally set, the drive mechanism of described driver element is screw mandrel, and described screw mandrel one end connects described drive motors, and the other end connects described drive plate.

Further, in described in the utility model doing evil through another person, described drive motors vertically arranges, the drive mechanism of described driver element comprises driving parts and screw mandrel, described drive motors connects one end of described driving parts, being connected of the other end of described driving parts and one end of described screw mandrel, the other end of described screw mandrel and described drive plate are connected.

Further, in described in the utility model doing evil through another person, described drive motors is by the reducing motor of motor and decelerator integrated installation; Described driving parts is synchromesh gear or synchronous belt; Described screw mandrel is the T-shaped screw mandrel with axial self-locking.

Wherein, described reducing motor is used to described finger unit and described thumb element that power resources are provided, motor in described reducing motor can be any one in direct current brushless servo motor, DC brush servomotor or permanent magnet DC motor, is preferably direct current brushless servo motor; Described decelerator is any one in harmonic speed reducer, planetary reduction gear or worm reducer, is preferably harmonic speed reducer; Described driving parts is preferably synchromesh gear.

Further, in described in the utility model doing evil through another person, described drive plate is set in a slide rail.

Further, in described in the utility model doing evil through another person, described finger unit comprises forefinger unit and middle finger unit, and described forefinger unit is all identical with described middle finger unit.

Further, in described in the utility model doing evil through another person, the first finger connector and the second finger connector of described finger unit are turning cylinder, the 3rd finger connector and the 4th finger connector are pin, the first thumb connector and the second thumb connector of described thumb element are turning cylinder, middle finger connector and third finger connector are pin, and described finger connecting plate is identical with described thumb connecting board structure, is the connecting plate with three pans;

Described first finger drive link one end is fixedly connected with described drive plate, one end chain connection of the other end and described second finger drive link, the other end of described second finger drive link is fixedly connected with described finger connecting plate by a pan of described finger connecting plate, another pan of described finger connecting plate is by described the first finger connector and described the first finger dactylus chain connection, one end chain connection of the another pan of described finger connecting plate and described the 3rd finger drive link, the other end of described the 3rd finger drive link is by described second finger connector and described second finger dactylus chain connection,

Described finger pedestal is fixedly arranged on the side cover of described palm body, and described finger pedestal is by one end chain connection of described the 3rd finger connector and described the first finger dactylus, and the other end of described the first finger dactylus is by described the 4th finger connector and described second finger dactylus chain connection;

Described first thumb drive link one end is fixedly connected with described drive plate, the other end is fixedly connected with the support bar portion of described fork arm, the fork of described fork arm is plugged in the groove of described slide block groove ring and described fork is rotated around described groove, the annulus portion of described slide block groove ring is set in described rotating shaft outside, and described annulus portion moves up and down along the axis direction of described rotating shaft, one end chain connection of the connecting portion of described slide block groove ring and described the second thumb drive link, the other end of described the second thumb drive link is fixedly connected with described thumb connecting plate by a pan of described thumb connecting plate, another pan of described thumb connecting plate is by described the first thumb connector and described the first thumb dactylus chain connection, the another pan of described thumb connecting plate and one end chain connection of described middle finger drive link, the other end of described middle finger drive link is by described the second thumb connector and described the second thumb dactylus chain connection,

Described thumb pedestal is fixedly arranged in described thumb rotating basis, and described thumb pedestal is by one end chain connection of described middle finger connector and described the first thumb dactylus, and the other end of described the first thumb dactylus is by described third finger connector and described the second thumb dactylus chain connection.

Further, in described in the utility model doing evil through another person, the fork of described fork arm is for mating the groove of described slide block groove ring annulus portion outer surface, and described fork is any one in U-shaped fork, the type of falling Ω fork, V-type fork, circular arc fork or ellipse arc fork.

Wherein, the fork of described fork arm is rotated around the groove of described slide block groove ring.

Further, in described in the utility model doing evil through another person, described worm screw comprises bar portion and regulating handle, and described bar portion is located in described thumb holder and with described thumb holder and is rotationally connected, described regulating handle is located at described thumb holder, for rotating described bar portion.

Further, in described in the utility model doing evil through another person, described finger drive mechanism also comprises the 4th finger drive link, the 5th finger connector, and finger structure also comprises the 3rd finger dactylus, the 6th finger connector;

Described the 4th finger drive link one end is connected with described second finger dactylus by described second finger connector, the other end is connected with described the 3rd finger dactylus by described the 5th finger connector, and described the 3rd finger dactylus is connected with described second finger dactylus by described the 6th finger connector.

The beneficial effects of the utility model are as follows:

1, quality is light.Of the present utility model doing evil through another person only has three fingers, and three fingers all share a motor and complete flexion and extension, compare and use doing evil through another person of multiple motors, weight alleviates to some extent, and thumb of the present utility model is realized outreach adduction campaign by passive matrix, and do not need to carry out outreach adduction campaign by driven by motor thumb is additionally set, thereby also save the weight of a motor.

2, with low cost.Main drive link, rotating shaft and the hinged drive mechanism of adopting of doing evil through another person of the present utility model, the processing cost of each drive disk assembly is comparatively cheap, and, because this utility model has only used a motor, also save certain cost.

3, practical.1. thumb can be realized passive outreach adduction, can do action more, as conventional everyday actions such as side is pinched, strength grasping; 2. grip is strong, adopts linkage, can realize larger grip; 3. single motor drives, and in price, most consumers can be born; 4. the driving parts such as motor are all arranged in palm, can not have interference to wrist movement; 5. finger structure and thumb structure are identical, are easy to modularity, and it is convenient to change, and can improve the commercialization potential of artificial limb, to meet the needs of practical situation.

Brief description of the drawings

Fig. 1 is that embodiment 1 does evil through another person in mediating the structural representation of state.

Fig. 2 is the structural representation that embodiment 1 does evil through another person in open mode.

Fig. 3 is the structural representation that Fig. 1 does evil through another person after a hiding palm lid and thumb holder.

Fig. 4 is the structural representation (the first finger drive link is not shown) of embodiment 1 finger unit of doing evil through another person.

Fig. 5-1 and Fig. 5-2nd, the partial structurtes schematic diagram of finger unit in Fig. 4, wherein Fig. 5-1st, the structural representation of finger connecting plate and second finger drive link, Fig. 5-2nd, the structural representation of finger pedestal.

Fig. 6-1st, Fig. 2 does evil through another person and hides the structural representation after a palm lid, thumb holder and thumb rotating basis; Fig. 6-2nd, Fig. 1 does evil through another person and hides the structural representation after a palm lid, thumb holder and thumb rotating basis.

Fig. 7 is the structural representation (the first finger drive link is not shown) of embodiment 2 finger unit of doing evil through another person.

Fig. 8-1 and Fig. 8-2nd, embodiment 5 do evil through another person middle second finger drive link with finger connecting plate as the schematic diagram of integrative-structure.

Detailed description of the invention

Below by specific embodiment, this utility model is elaborated, should be understood that, these detailed description of the invention are only used for exemplifying this utility model, not real protection scope of the present utility model are formed to any type of any restriction.

In this utility model, term " on ", D score, " left side ", " right side ", 'fornt', 'back', " top ", " end ", " interior ", " outward ", " in " etc. orientation or the position relationship of instruction be based on orientation shown in the drawings or position relationship.These terms are mainly in order to describe better this utility model and embodiment, are not intended to limit indicated device, element or ingredient and must have particular orientation, or construct and operate with particular orientation.

And above-mentioned part term is except can orientation or position relationship, being also used for representing other implications for representing, for example term " on " also may be used for representing in some cases certain relations of dependence or annexation.For those of ordinary skills, can understand as the case may be the concrete meaning of these terms in this utility model.

In addition, term " installation ", " setting ", " being provided with ", " connection ", " being connected " should be interpreted broadly.For example, can be to be fixedly connected with, removably connect, or monolithic construction; Can be mechanical connection, or electrical connection; Can be to be directly connected, or indirectly be connected by intermediary, or be connection inner between two devices, element or ingredients.For those of ordinary skills, can understand as the case may be the concrete meaning of above-mentioned term in this utility model.

Embodiment 1

Consult Fig. 1 to Fig. 6, the present embodiment provides one to do evil through another person, and comprises palm body 1, driver element 2, finger unit 3 and thumb element 4.

As shown in Figure 1, palm body 1 comprises the side cover 12 of the two palm lids 11 that are oppositely arranged and connection two palm lids 11, and this palm body 1 is to enclose with side cover 12 cavity forming by two palm lids 11.

As shown in Figure 3, driver element 2 is arranged in palm body 1, comprise drive motors 21, drive mechanism 22 and drive plate 23, these drive mechanism 22 two ends connect respectively drive motors 21 and drive plate 23, what this drive motors 21 adopted is reducing motor, and drive motors 21 is actually reducing motor 21.

This reducing motor 21 vertically arranges in palm body 1, and this reducing motor 21 is by the improvement type motor of motor and decelerator integrated installation, adopts this motor can make the overall structure of doing evil through another person compacter.In this reducing motor 21, motor is direct current brushless servo motor, and decelerator is harmonic speed reducer.

This drive mechanism 22 comprises a pair of synchromesh gear 221 and screw mandrel 222, a gear in this synchromesh gear 221 is located at the bottom of reducing motor 21, another gear is located at the bottom of screw mandrel 222, and these two synchromesh gears 221 transmission of intermeshing, the T-shaped screw mandrel that this screw mandrel 222 is axial self-locking, and this screw mandrel 222 is connected with drive plate 23, this drive plate 23 is set in a slide rail (not shown).

This finger unit 3 comprises forefinger unit and middle finger unit, and forefinger unit is identical with the structure of middle finger unit.For convenient narration, the structure of this finger unit 3 is only described as an example of middle finger unit example in the present embodiment, and only middle finger unit is carried out to corresponding mark in relevant drawings yet, but this should not cause the disturbance of understanding to forefinger running part.

As shown in Fig. 3, Fig. 4, Fig. 5-1 and Fig. 5-2, this finger unit 3 comprises finger drive mechanism 31 and finger structure 32, this finger drive mechanism 31 comprises the first finger drive link 311, second finger drive link 312, the 3rd finger drive link 313, the first finger connector 314, second finger connector 315 and finger connecting plate 316, and this finger structure 32 comprises finger pedestal 321, the first finger dactylus 322, second finger dactylus 323, the 3rd finger connector 324 and the 4th finger connector 325;

The first finger connector 314 and the second finger connector 315 of this finger drive mechanism 31 are turning cylinder, the 3rd finger connector 324 and the 4th finger connector 325 are pin, and this finger connecting plate 316 is the connecting plate with three pans 3161,3162 and 3163.

First finger drive link 311 one end are fixedly connected with drive plate 23, one end chain connection of the other end and second finger drive link 312, the other end of second finger drive link 312 is fixedly connected with this finger connecting plate 316 by a pan 3163 of this finger connecting plate 316, another pan 3162 of this finger connecting plate 316 is by the first finger connector 314 and the first finger dactylus 322 chain connections, one end chain connection of the another pan 3161 of this finger connecting plate 316 and the 3rd finger drive link 313, the other end of the 3rd finger drive link 313 is by second finger connector 315 and second finger dactylus 323 chain connections,

Finger pedestal 321 is fixedly arranged on the side cover 12 of palm body 1, and finger pedestal 321 is by one end chain connection of the 3rd finger connector 324 and the first finger dactylus 322, and the other end of the first finger dactylus 322 is by the 4th finger connector 325 and second finger dactylus 323 chain connections.

As Fig. 1, shown in Fig. 6-1 and Fig. 6-2, this thumb element 4 comprises thumb holder 41, thumb rotating basis 42, thumb drive mechanism 43 and thumb structure 44, this thumb drive mechanism 43 comprises the first thumb drive mechanism 431 and the second thumb drive mechanism 432, the first thumb drive mechanism 431 comprises rotating shaft 4311, turbine 4312 and worm screw 4313, the second thumb drive mechanism comprises the first thumb drive link 4321, the second thumb drive link 4322, middle finger drive link 4323, the first thumb connector 4324, the second thumb connector 4325 and thumb connecting plate 4326, fork arm 4327 and slide block groove ring 4328.

Wherein fork arm 4327 is made up of circular arc fork and support bar portion, slide block groove ring 4328 is established reeded annulus portion by connecting portion and outer surface and is formed, and this thumb structure 44 comprises thumb pedestal 441, the first thumb dactylus 442, the second thumb dactylus 443, middle finger connector 444 and third finger connector 445;

The first thumb connector 4324 of this thumb element 1 and the second thumb connector 4325 are turning cylinder, middle finger connector 444 and third finger connector 445 are pin, the structure of thumb connecting plate 4326 is identical with the structure of finger connecting plate 316, is the connecting plate with three pans.

Thumb holder 41 is fixedly arranged on the palm lid 11 of palm body 1, rotating shaft 4311 is fixedly arranged on thumb rotating basis 42 inside, and pass from thumb rotating basis 42 bottoms and be rotationally connected with thumb holder 41, turbine 4312 is installed in the bottom of rotating shaft 434, worm screw 4313 engages with turbine 4312, worm screw 4313 comprises bar portion and regulating handle, the bar portion of worm screw 4313 is located in thumb holder 41 and by bearing (not shown) and thumb holder 41 and is rotationally connected, the regulating handle of worm screw 4313 is located at thumb holder 41 outsides, for the bar portion of rotary worm 4313, and then drive other structure drivens.

First thumb drive link 4321 one end are fixedly connected with drive plate 23, the other end is fixedly connected with the support bar portion of fork arm 4327, the circular arc fork of fork arm 4327 is plugged in the groove of slide block groove ring 4328 and this circular arc fork is rotated around this groove, the annulus portion of this slide block groove ring 4328 is set in rotating shaft 4311 outsides, and this annulus portion can move up and down along the axis direction of rotating shaft 4311, but this annulus portion can not rotate around rotating shaft 4311.One end chain connection of the connecting portion of slide block groove ring 4328 and the second thumb drive link 4322, the other end of the second thumb drive link 4322 is fixedly connected with thumb connecting plate 4326 by a pan of thumb connecting plate, another pan of thumb connecting plate 4325 is by the first thumb connector 4324 and the first thumb dactylus 442 chain connections, the another pan of thumb connecting plate 4325 and one end chain connection of middle finger drive link 4323, the other end of middle finger drive link 4323 is by the second thumb connector 4325 and the second thumb dactylus 443 chain connections;

Thumb pedestal 441 is fixedly arranged in thumb rotating basis 42, and thumb pedestal 441 is by one end chain connection of middle finger connector 444 and the first thumb dactylus 442, and the other end of the first thumb dactylus 442 is by third finger connector 445 and second finger dactylus 443 chain connections.

In said structure, finger structure 32 is identical with the structure of thumb structure 44, the difference of finger drive mechanism 31 and the second thumb drive mechanism 432 is only, finger drive mechanism 31 drives second finger drive link 312 by the first finger drive link 311, and then the flexion and extension of drive finger, the second thumb drive mechanism 432 drives fork arm 4327 and sliding recess ring 4328 successively by the first thumb drive link 4321, drive the second thumb drive link 4322 by sliding recess ring 4328 again, and then drive the flexion and extension of thumb.

In said structure, although finger structure 32 is identical with the structure of thumb structure 44, the structure of finger drive mechanism 31 and the second thumb drive mechanism 432 is close, but in actual use, according to the demand of doing evil through another person, finger structure can be set to different sizes from the physical dimension of thumb structure, and similarly, finger drive mechanism also can be set to different sizes from the size of each parts in the second thumb drive mechanism.

In the present embodiment, do evil through another person by reducing motor 21 driving work, in the time that reducing motor 21 is worked, this reducing motor 21 drives synchromesh gear 221 to rotate, and then to screw mandrel 222 transmissions, drives drive plate 23 to move by the rotation of screw mandrel 222.

Although the rotation meeting of screw mandrel 222 produces radially moment of torsion to drive plate 23, because drive plate 23 is set in a slide rail, between this slide rail and drive plate 23, can produce interaction force, thereby greatly alleviate the impact that radially moment of torsion moves up and down on drive plate.

Due to the first finger drive link 311 with drive plate 23 for being fixedly connected with, so moving up and down of drive plate 23 can drive the motion of the first finger drive link 311, and then drive the motion of second finger drive link 312; Due to second finger drive link 312 with finger connecting plate 316 for being fixedly connected with, therefore second finger drive link 312 can drive the motion of finger connecting plate 316, and then drive the first finger dactylus 322 bendings or stretching and the 3rd to point the motion of drive link 313 by finger connecting plate 316 simultaneously, driven again the motion of second finger dactylus 323 by the 3rd finger drive link 313, thus, complete bending or the stretching of finger unit 3.

Due to the first thumb drive link 4321 with drive plate 23 also for being fixedly connected with, so moving up and down of drive plate 23, can drive the motion of the first thumb drive link 4321, and then drive the moving up and down of fork arm 4327, because the circular arc fork of fork arm 4327 is plugged in the groove of slide block groove ring 4328, and slide block groove ring 4328 can move up and down along the axis direction of rotating shaft, but slide block groove ring 4328 can not rotate around the axis, therefore moving up and down of fork arm 4327 can drive the motion of sliding recess ring 4328, and then drive the second thumb drive link 4322 to move by sliding recess ring 4328,

The finger kind of drive in similar finger unit 3, the second thumb drive link 4322 in thumb element 4 can drive the motion of thumb connecting plate 4326, and then driven the motion of the first thumb dactylus 442 bendings or stretching and middle finger drive link 4323 by thumb connecting plate 4326 simultaneously, driven again the motion of the second thumb dactylus 443 by middle finger drive link 4323, thus, complete bending or the stretching of thumb element 4.

In addition, in thumb element 4, also can pass through the isostructural cooperation transmission of turbine and worm, complete the interior receipts abduction of thumb.

Particularly, the regulating handle of rotary worm 4313, rotates the bar portion of worm screw 4313, and worm screw 4313 is to turbine 4312 engaged transmission, and then the axial rotation of drive rotating shaft 4311; Because rotating shaft 4311 is fixedly arranged on thumb rotating basis 42 inside, and thumb pedestal 441 is also fixedly arranged in thumb rotating basis 42, therefore the rotation of rotating shaft 4311 can drive the rotation of thumb rotating basis 42 and thumb pedestal 441, and then drive whole thumb structure 44 to rotate, complete the interior receipts abduction exercise of thumb.

In the present embodiment, be provided with chute (not shown) in the middle part of rotating shaft 4311, slide up and down along the axis direction of rotating shaft 4311 for realizing slide block groove ring 4328, and can not 4311 rotate around the shaft.Therefore, in the time that the rotation of worm screw 4313 drives turbine 4312 and rotating shaft 4311 to rotate successively, sliding recess ring 4328 can be followed rotating shaft 4311 and be rotated, and sliding recess changes 4328 and remains unchanged with the relative position of rotating shaft 4311.

Because the circular arc fork of fork arm 4327 and the groove of slide block groove ring 4328 are rotating connected mode, therefore the rotation of slide block groove ring 4328 can not impact fork arm 4327, be that fork arm 4327 can not move because of the rotation of slide block groove ring 4328, so the interior receipts abduction exercise of thumb and the bending stretching of thumb are independent of each other.

Doing evil through another person in the present embodiment can proceed as follows:

(1) grasp: i.e. strength grasping or essence are pinched.Regulate worm screw 4313, make turbine 4312 drive rotating shaft 4311 to rotate, when the thumb element 4 of doing evil through another person turns to position as shown in Figure 1, open reducing motor 21, rotate and drive screw mandrel 222 to rotate by synchromesh gear 221, thereby drive drive plate 23 to move down, and then drive the first finger dactylus 322 and the second finger dactylus 323 of finger unit 3 to do curvature movement, also drive the first thumb dactylus 442 of thumb element 4 and the second thumb dactylus 443 to do curvature movement simultaneously, when grasping after thing, due to the axial self-locking function of screw mandrel 222, reducing motor 201 stops automatically, drive plate 23 no longer moves up and down.Again grasp if think, can rotate backward reducing motor 201, unclamp finger, and then realize grasping again.

Wherein, strength grasps and refers to the grasping such as mineral water, block object, belongs to the motion of finger; Essence is pinched and is referred to for being affectedly bashful of small objects, and as key, scraps of paper and so on, belongs to finger-tip operated.

(2) side is held: side is pinched or hook-shaped grasping.Regulate worm screw 4313, make turbine 4312 drive rotating shaft 4311 to rotate, when the thumb element of doing evil through another person turns to position as shown in Figure 2, open reducing motor 21, rotate and drive screw mandrel 222 to rotate by synchromesh gear 221, thereby drive drive plate 23 to move down, and then drive the first finger dactylus 322 and the second finger dactylus 323 of finger unit 3 to do curvature movement, also drive the first thumb dactylus 442 of thumb element 4 and the second thumb dactylus 443 to do curvature movement simultaneously, when grasping after thing, due to the axial self-locking function of screw mandrel 222, reducing motor 201 stops automatically, drive plate 23 no longer moves up and down.Again grasp if think, can rotate backward reducing motor 201, unclamp finger, and then realize grasping again.

Embodiment 2

As shown in Figure 7, the difference of the present embodiment and embodiment 1 is only, in the present embodiment, finger drive mechanism 31 also comprises the 4th finger drive link 317, the 5th finger connector 318, and finger structure 32 also comprises the 3rd finger dactylus 326, the 6th finger connector 327;

The 4th finger drive link 317 one end are connected with the 3rd finger drive link 313, and the other end is connected with the 3rd finger dactylus 326 by the 5th finger connector 318, and the 3rd finger dactylus 326 is connected with second finger dactylus 323 by the 6th finger connector 327.

Embodiment 3

The difference of the present embodiment and embodiment 1 is only, reducing motor in the present embodiment is horizontally set, in the driving mechanism of driver element, do not comprise synchromesh gear, this driver element comprises reducing motor, screw mandrel and drive plate, and these screw mandrel two ends connect respectively reducing motor and drive plate.

In the time that reducing motor is worked, reducing motor drives screw mandrel motion, and then drives drive plate to move by screw mandrel.

Embodiment 4

The difference of the present embodiment and embodiment 1 is only, in the present embodiment, the decelerator of reducing motor adopts planetary reduction gear, and drive mechanism comprises synchrome conveying belt and screw mandrel, replaces synchromesh gear with synchrome conveying belt.

Embodiment 5

As shown in Fig. 8-1 and Fig. 8-2, the difference of the present embodiment and embodiment 1 is only, in embodiment 1, the second finger drive link of finger drive mechanism and finger connecting plate are two parts, second finger drive link one end is fixedly connected with finger connecting plate, but in the present embodiment, second finger drive link and finger connecting plate can be used as the parts of one, reduce the usage quantity of parts.

Be understandable that, the effect of this body component is to provide multiple junctions, realize respectively and being connected of miscellaneous part, for example realize respectively and point being connected of drive link with the first finger drive link, the first finger dactylus and the 3rd, therefore, the structure of this body component and shape are not limited only to the structure shown in Fig. 8-1 and Fig. 8-2 and shape, in actual applications, design this body component according to the space layout of finger unit.

The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; do not departing under the prerequisite of this utility model principle; can do some improvement to the technical scheme of utility model; therefore, protection domain of the present utility model is not limited to this, and those of skill in the art are any to be included within this utility model protection domain based on non-material change in technical solutions of the utility model.

Claims (10)

1. do evil through another person for one kind, comprise palm body, driver element, finger unit and thumb element, it is characterized in that:

Described palm body comprises the two palm lids that are oppositely arranged and connects the side cover of palm lid described in two, and described palm body is to enclose by palm lid described in two and described side cover the cavity forming;

Described driver element is arranged in described palm body, comprises drive motors, drive mechanism and drive plate, and described drive mechanism two ends connect respectively described drive motors and described drive plate;

Described finger unit comprises finger drive mechanism and finger structure, described finger drive mechanism comprises the first finger drive link, second finger drive link, the 3rd finger drive link, the first finger connector, second finger connector and finger connecting plate, and described finger structure comprises finger pedestal, the first finger dactylus, second finger dactylus, the 3rd finger connector and the 4th finger connector;

Described first finger drive link one end is fixedly connected with described drive plate, the other end is connected with one end of described second finger drive link, the other end of described second finger drive link is fixedly connected with described finger connecting plate, described finger connecting plate is provided with multiple junctions, one junction of described finger connecting plate is connected with described the first finger dactylus by described the first finger connector, another junction of described finger connecting plate is connected with one end of described the 3rd finger drive link, the other end of described the 3rd finger drive link is connected with described second finger dactylus by described second finger connector,

Described finger pedestal is fixedly arranged on the side cover of described palm body, and described finger pedestal is connected with one end of described the first finger dactylus by described the 3rd finger connector, the other end of described the first finger dactylus is connected with described second finger dactylus by described the 4th finger connector;

Described thumb element comprises thumb holder, thumb rotating basis, thumb drive mechanism and thumb structure, described thumb drive mechanism comprises the first thumb drive mechanism and the second thumb drive mechanism, described the first thumb drive mechanism comprises rotating shaft, turbine and worm screw, described the second thumb drive mechanism comprises the first thumb drive link, the second thumb drive link, middle finger drive link, the first thumb connector, the second thumb connector, thumb connecting plate, fork arm and slide block groove ring, wherein said fork arm is made up of fork and support bar portion, described slide block groove ring is established reeded annulus portion by connecting portion and outer surface and is formed, described thumb structure comprises thumb pedestal, the first thumb dactylus, the second thumb dactylus, middle finger connector and third finger connector,

The palm that described thumb holder is fixedly arranged on described palm body covers, described rotating shaft is fixedly arranged on described thumb rotating basis inside, and pass and be rotationally connected with described thumb holder from described thumb rotating basis bottom, described turbine is installed in the bottom of described rotating shaft, and described worm screw engages with described turbine;

Described first thumb drive link one end is fixedly connected with described drive plate, the other end is fixedly connected with the support bar portion of described fork arm, the fork of described fork arm is plugged in the groove of described slide block groove ring and described fork is rotated around described groove, the annulus portion of described slide block groove ring is set in described rotating shaft outside, and described annulus portion moves up and down along the axis direction of described rotating shaft, the connecting portion of described slide block groove ring is connected with one end of described the second thumb drive link, the other end of described the second thumb drive link is fixedly connected with described thumb connecting plate, described thumb connecting plate is provided with multiple junctions, one junction of described thumb connecting plate is connected with described the first thumb dactylus by described the first thumb connector, another junction of described thumb connecting plate is connected with one end of described middle finger drive link, the other end of described middle finger drive link is connected with described the second thumb dactylus by described the second thumb connector,

Described thumb pedestal is fixedly arranged in described thumb rotating basis, and described thumb pedestal is connected with one end of described the first thumb dactylus by described middle finger connector, the other end of described the first thumb dactylus is connected with described the second thumb dactylus by described third finger connector.

2. according to claim 1 doing evil through another person, is characterized in that: described drive motors horizontally set, and the drive mechanism of described driver element is screw mandrel, and described screw mandrel one end connects described drive motors, and the other end connects described drive plate.

3. according to claim 1 doing evil through another person, it is characterized in that: described drive motors vertically arranges, the drive mechanism of described driver element comprises driving parts and screw mandrel, described drive motors connects one end of described driving parts, being connected of the other end of described driving parts and one end of described screw mandrel, the other end of described screw mandrel and described drive plate are connected.

4. according to claim 3 doing evil through another person, is characterized in that: described drive motors is by the reducing motor of motor and decelerator integrated installation; Described driving parts is synchromesh gear or synchronous belt; Described screw mandrel is the T-shaped screw mandrel with axial self-locking.

5. according to doing evil through another person described in claim 1 to 4 any one, it is characterized in that: described drive plate is set in a slide rail.

6. according to claim 1 doing evil through another person, is characterized in that: described finger unit comprises forefinger unit and middle finger unit, and described forefinger unit is all identical with described middle finger cellular construction.

7. according to claim 1 doing evil through another person, it is characterized in that: the first finger connector and the second finger connector of described finger unit are turning cylinder, the 3rd finger connector and the 4th finger connector are pin, the first thumb connector and the second thumb connector of described thumb element are turning cylinder, middle finger connector and third finger connector are pin, described finger connecting plate is identical with described thumb connecting board structure, is the connecting plate with three pans;

Described first finger drive link one end is fixedly connected with described drive plate, one end chain connection of the other end and described second finger drive link, the other end of described second finger drive link is fixedly connected with described finger connecting plate by a pan of described finger connecting plate, another pan of described finger connecting plate is by described the first finger connector and described the first finger dactylus chain connection, one end chain connection of the another pan of described finger connecting plate and described the 3rd finger drive link, the other end of described the 3rd finger drive link is by described second finger connector and described second finger dactylus chain connection,

Described finger pedestal is fixedly arranged on the side cover of described palm body, and described finger pedestal is by one end chain connection of described the 3rd finger connector and described the first finger dactylus, and the other end of described the first finger dactylus is by described the 4th finger connector and described second finger dactylus chain connection;

Described first thumb drive link one end is fixedly connected with described drive plate, the other end is fixedly connected with the support bar portion of described fork arm, the fork of described fork arm is plugged in the groove of described slide block groove ring and described fork is rotated around described groove, the annulus portion of described slide block groove ring is set in described rotating shaft outside, and described annulus portion moves up and down along the axis direction of described rotating shaft, one end chain connection of the connecting portion of described slide block groove ring and described the second thumb drive link, the other end of described the second thumb drive link is fixedly connected with described thumb connecting plate by a pan of described thumb connecting plate, another pan of described thumb connecting plate is by described the first thumb connector and described the first thumb dactylus chain connection, the another pan of described thumb connecting plate and one end chain connection of described middle finger drive link, the other end of described middle finger drive link is by described the second thumb connector and described the second thumb dactylus chain connection,

Described thumb pedestal is fixedly arranged in described thumb rotating basis, and described thumb pedestal is by one end chain connection of described middle finger connector and described the first thumb dactylus, and the other end of described the first thumb dactylus is by described third finger connector and described the second thumb dactylus chain connection.

8. according to claim 1 doing evil through another person, it is characterized in that: the fork of described fork arm is for mating the groove of described slide block groove piece annulus portion outer surface, and described fork is any one in U-shaped fork, the type of falling Ω fork, V-type fork, circular arc fork or ellipse arc fork.

9. according to claim 1 doing evil through another person, it is characterized in that: described worm screw comprises bar portion and regulating handle, described bar portion is located in described thumb holder and with described thumb holder and is rotationally connected, and described regulating handle is located at described thumb holder, for rotating described bar portion.

10. according to claim 1 doing evil through another person, is characterized in that: described finger drive mechanism also comprises the 4th finger drive link, the 5th finger connector, and finger structure also comprises the 3rd finger dactylus, the 6th finger connector;

Described the 4th finger drive link one end is connected with described second finger dactylus by described second finger connector, the other end is connected with described the 3rd finger dactylus by described the 5th finger connector, and described the 3rd finger dactylus is connected with described second finger dactylus by described the 6th finger connector.