CN204800661U - People's wrist device is imitated to two degrees of freedom - Google Patents
People's wrist device is imitated to two degrees of freedom Download PDFInfo
- Publication number
- CN204800661U CN204800661U CN201520317074.8U CN201520317074U CN204800661U CN 204800661 U CN204800661 U CN 204800661U CN 201520317074 U CN201520317074 U CN 201520317074U CN 204800661 U CN204800661 U CN 204800661U
- Authority
- CN
- China
- Prior art keywords
- gear
- motor
- platform
- unit
- power unit
- 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.)
- Expired - Fee Related
Links
Landscapes
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The utility model belongs to imitative people robot field, in particular to people's wrist device is imitated to two degrees of freedom, including tilting mechanism and rotary mechanism. Tilting mechanism includes base, a power pack, a drive unit and the platform of turning on one's side, can realize inside and outside upset motion. Rotary mechanism includes the 2nd power pack, secondary drive unit and rotates the platform, can realize inside and outside rotary motion. Tilting mechanism with rotary mechanism passes through round hole gear connection in the secondary drive unit. Device compact structure, quality is light, can the inside and outside upset of anthropomorphic dummy wrist and the action of interior external rotation, can do imitative people's machine staff wrist use, and also can install at the artificial limb on hand.
Description
Technical field
The utility model belongs to anthropomorphic robot field, particularly a kind of two-freedom apery wrist mechanical device.
Background technology
Along with the continuous application of Robotics, Apery manipulator is one of study hotspot becoming robot field.In recent decades, in order to simulate the function of staff, domestic and international many research institutions are in the design of Apery manipulator, and fruitful research has been made in the aspects such as analysis and control, and the research of Apery manipulator is also considered to one of the most challenging work.On the other hand, along with the growth of human society material wealth, society more and more pays close attention to disabled person, and the research of prosthetic hand has obtained the great attention of various circles of society.
Apery wrist is an important component part of Apery manipulator.The contour structures that apery wrist on the one hand makes manipulator have more to personalize, can strengthen the flexibility ratio of manipulator on the other hand, increase the operating space of manipulator.At present, some apery wrists are developed out, and its appearance and size is large, quality is heavy, the free degree is few, are mainly used in industrial robot and humanoid dexterous on hand.On market, existing prosthetic hand does not all also have wrist part structure, greatly reduces the performance of prosthetic hand, brings many inconvenience to patients with amputation.
Utility model content
Because the above-mentioned defect of prior art, the purpose of this utility model is the two-freedom apery wrist device providing a kind of compact conformation, quality light, the action of the inside and outside upset of human wrist and interior inner rotary can be simulated, anthropomorphic robot wrist can be made and use, also can be arranged on prosthetic hand.
Two-freedom apery wrist mechanical device of the present utility model comprises switching mechanism and rotating mechanism; Described switching mechanism can realize inside and outside flip-flop movement, and described rotating mechanism can realize inside and outside rotary motion.Described switching mechanism comprises pedestal, the first power unit, the first gear unit and rollover platform.Described pedestal is used for fixing described first power unit, the driving force of described first power unit for providing switching mechanism to carry out needed for flip-flop movement, the driving force that described first gear unit is used for described first power unit produces is sent to described rollover platform to realize flip-flop movement inside and outside described device.Described rotating mechanism comprises the second power unit, the second gear unit and rotatable platform.The driving force of described second power unit for providing described rotating mechanism to carry out needed for inside and outside rotary motion, the driving force that described second gear unit is used for described second power unit produces is sent to described rotatable platform to realize rotary motion inside and outside described device.Described switching mechanism is connected by the circular hole gear in described second gear unit with described rotating mechanism.
Described pedestal comprises flange portion and seat portion, and described flange portion is used for being connected with the arm of apery prosthetic hand, and described seat portion is used for fixing described first power unit.Described first power unit, for the driving force providing described switching mechanism to carry out needed for flip-flop movement, comprises motor fixing frame and the first motor.Described motor fixing frame is fixed on described pedestal by the mode such as screw or rivet.Described motor fixing frame is connected with described first motor, described first motor is either-rotation motor, and its output shaft is connected with the first gear unit.The driving force that described first gear unit is used for described first power unit produces is sent to described rollover platform, thus realizes the inside and outside flip-flop movement of described device.Described first gear unit comprises the first travelling gear, the first power transmission shaft, the first duplicate gear, second driving shaft, the second duplicate gear, the first connecting axle, D hole gear and the second connecting axle.Described first driving cog wheel case is fixed on the output shaft of described first motor.Described first power transmission shaft is arranged with described first duplicate gear.Described second driving shaft is arranged with described second duplicate gear.Described first travelling gear engages with the gear wheel of described first duplicate gear, and the pinion of described first duplicate gear engages with the gear wheel of described second duplicate gear.Described motor fixing frame forms pivotable connection by described first connecting axle and described second connecting axle with described rollover platform.Wherein, one end of described second connecting axle is set on described motor fixing frame, and the other end is fixed on described rollover platform.One end of described first connecting axle has circular cross-section, is set on described motor fixing frame; The other end of described first connecting axle has D tee section, is fixed on described rollover platform; The centre of described first connecting axle also has D tee section, is arranged with described D hole gear.Described D hole gear engages with the pinion of described second duplicate gear.
Described switching mechanism can realize inside and outside flip-flop movement, to imitate the action of upset inside and outside human wrist.When described first electric machine rotation, described first motor output shaft drives described first travelling gear to rotate, described first travelling gear drives described first duplicate gear to rotate, described first duplicate gear drives described second duplicate gear motion, described second duplicate gear drives described D hole pinion rotation, due to described D hole gear and described rollover platform affixed, described rollover platform rotates together with the gear of described D hole, thus achieves inside and outside flip-flop movement.
Described rotating mechanism is connected with described switching mechanism, and described rotating mechanism comprises the second power unit, the second gear unit and rotatable platform.Described second power unit, for the driving force providing described rotating mechanism to carry out needed for inside and outside rotary motion, comprises the second motor and palm connected unit.The driving force that described second gear unit is used for described second power unit produces is sent to described rotatable platform, thus realizing the inside and outside rotary motion of described device, it comprises bearing, circular hole gear, the 3rd power transmission shaft, the 3rd duplicate gear and the second travelling gear.Described palm connected unit is used for being connected with the metacarpus of apery prosthetic hand, it is connected with described second motor and the 3rd power transmission shaft.Described second motor is either-rotation motor, its output shaft overlaps intrinsic described second travelling gear.Described palm connected unit is fixed on described rotatable platform, and described rotatable platform is connected with described rollover platform by described circular hole gear.Described round tooth wheel has gear part and axle portion, more than described gear part, described rotatable platform is affixed, described axle portion is arranged with described bearing and through the hole be positioned at bottom described rotatable platform and described rollover platform affixed, wherein said bearing is fixed on rotatable platform.Described 3rd power transmission shaft is arranged with described 3rd duplicate gear.Wherein, described second travelling gear engages with the gear wheel of described 3rd duplicate gear; The pinion of described 3rd duplicate gear and described circular hole gears meshing.
Described rotating mechanism can realize inside and outside rotary motion, to imitate the action of inner rotary in human wrist.When described second motor movement, the output shaft of described second motor drives described second travelling gear to rotate, described second travelling gear drives described 3rd duplicate gear to rotate, due to described 3rd duplicate gear and described circular hole gears meshing, and described circular hole gear and described rollover platform affixed, described rotatable platform and described palm connected unit affixed, therefore described second motor will drive described rotatable platform around described circular hole pinion rotation together with described palm connected unit, thus achieve inside and outside rotary motion.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the device of the utility model preferred embodiment.
Fig. 2 is the decomposing schematic representation of the apparatus structure of the utility model preferred embodiment.
Fig. 3 be the utility model preferred embodiment device inside and outside the schematic diagram of flip-flop movement.
Fig. 4 be the utility model preferred embodiment device inside and outside the schematic diagram of rotary motion.
Detailed description of the invention
Concrete structure and the mode of action of the utility model device are described below by mode by reference to the accompanying drawings.Two-freedom apery wrist mechanical device of the present utility model comprises switching mechanism and rotating mechanism.
As illustrated in fig. 1 and 2, in a preferred embodiment, described switching mechanism comprises: pedestal 1, first motor 2, first travelling gear 3, motor fixing frame 4, first power transmission shaft 5, first duplicate gear 6, second driving shaft 7, second duplicate gear 8, first connecting axle 9, D hole gear 10, second connecting axle 11 and rollover platform 12.Described pedestal 1 comprises flange portion and seat portion, and described flange portion is used for being connected with the arm of apery prosthetic hand, and described seat portion is used for fixing described motor fixing frame 4.Described motor fixing frame 4 is fixed on described pedestal 1, described motor fixing frame 4 is connected with described first motor 2, described first power transmission shaft 5 and described second driving shaft 7.The output shaft of described first motor 2 overlaps intrinsic described first travelling gear 3.Described first power transmission shaft 5 is arranged with described first duplicate gear 6.Described second driving shaft 7 is arranged with described second duplicate gear 8.Described first travelling gear 3 engages with the gear wheel of described first duplicate gear 6, and the pinion of described first duplicate gear 6 engages with the gear wheel of described second duplicate gear 8.Described motor fixing frame 4 forms pivotable connection by described first connecting axle 9 and described second connecting axle 11 with described rollover platform 12.Wherein, one end of described second connecting axle 11 is set on motor fixing frame 4, and the other end is fixed on described rollover platform 12.One end of described first connecting axle 9 has circular cross-section, is set on motor fixing frame 4; The other end has D tee section, is fixed on described rollover platform 12, also has D tee section, be arranged with described D hole gear 10 in the middle of it.Described D hole gear 10 engages with the pinion of the second duplicate gear 8.
Described switching mechanism is connected with described rotating mechanism, and described rotating mechanism comprises: bearing 13, circular hole gear 14, rotatable platform 15, the 3rd power transmission shaft 16, the 3rd duplicate gear 17, palm connected unit 18, second travelling gear 19 and the second motor 20.Described circular hole gear 14 has gear part and axle portion, described axle portion is arranged with described bearing and through the hole be positioned at bottom described rotatable platform 15 and described rollover platform 12 affixed, and described bearing 13 is fixed on rotatable platform 15.Described rotatable platform 15 is also connected with the described palm connected unit 18 for being connected with the metacarpus of apery prosthetic hand.Described palm connected unit 18 is connected with described second motor 20 and described 3rd power transmission shaft 16.The output shaft of described second motor 20 overlaps intrinsic described second travelling gear 19.Described 3rd power transmission shaft 16 is arranged with described 3rd duplicate gear 17.Wherein, described second travelling gear 19 engages with the gear wheel of described 3rd duplicate gear 17; The pinion of described 3rd duplicate gear 17 engages with described circular hole gear 14.
As shown in Figure 1, described rollover platform 12 and described motor fixing frame 4 keeping parallelism, be equivalent to human wrist and be in natural relaxation state the original state of the utility model device.When described first motor 2 rotates, described device can realize inside and outside flip-flop movement, and its mechanism as shown in Figure 3.Described first motor 2 output shaft drives described first travelling gear 3 to rotate, described first travelling gear 3 drives described first duplicate gear 6 to rotate, described first duplicate gear 6 drives described second duplicate gear 8 to move, described second duplicate gear 8 drives described D hole gear 10 to rotate, because described D hole gear 10 and described rollover platform 12 are affixed, described rollover platform 12 rotates together with described D hole gear 10, namely achieves inside and outside flip-flop movement.
And when described second motor 20 moves, described device can realize inside and outside rotary motion, its mechanism as shown in Figure 4.The output shaft of described second motor 20 drives described second travelling gear 19 to rotate, described second travelling gear 19 drives described 3rd duplicate gear 17 to rotate, because described 3rd duplicate gear 17 engages with described circular hole gear 14, and described circular hole gear 14 is affixed with described rollover platform 12, described rotatable platform 15 is affixed with described palm connected unit 18, therefore described second motor 20 will drive described rotatable platform 15 to rotate around described circular hole gear 14 together with described palm connected unit 18, namely achieve inside and outside rotary motion.
More than describe preferred embodiment of the present utility model in detail.Should be appreciated that the ordinary skill of this area just can make many modifications and variations according to design of the present utility model without the need to creative work.Therefore, all technical staff in the art according to design of the present utility model on the basis of existing technology by logic analysis, reasoning or the available technical scheme of limited test, all should by the determined protection domain of claims.
Claims (10)
1. a two-freedom apery wrist device, is characterized in that, described device comprises switching mechanism and rotating mechanism; Described switching mechanism can realize inside and outside flip-flop movement, and described rotating mechanism can realize inside and outside rotary motion;
Described switching mechanism comprises pedestal, the first power unit, the first gear unit and rollover platform; Described pedestal is used for fixing described first power unit, the driving force of described first power unit for providing switching mechanism to carry out needed for flip-flop movement, the driving force that described first gear unit is used for described first power unit produces is sent to described rollover platform to realize flip-flop movement inside and outside described device;
Described rotating mechanism comprises the second power unit, the second gear unit and rotatable platform; The driving force of described second power unit for providing described rotating mechanism to carry out needed for inside and outside rotary motion, the driving force that described second gear unit is used for described second power unit produces is sent to described rotatable platform to realize rotary motion inside and outside described device;
Described switching mechanism is connected by the circular hole gear in described second gear unit with described rotating mechanism.
2. device as claimed in claim 1, wherein said pedestal comprises flange portion and seat portion, and described flange portion is used for being connected with the arm of apery prosthetic hand, and described seat portion is used for fixing described first power unit.
3. device as claimed in claim 1, wherein said first power unit comprises motor fixing frame and the first motor, and described motor fixing frame is fixed on described pedestal, and described first motor is fixed on described motor fixing frame.
4. device as claimed in claim 3, wherein said first motor is either-rotation motor.
5. device as claimed in claim 3, wherein said rollover platform is connected on described motor fixing frame pivotly.
6. device as claimed in claim 5, wherein said motor fixing frame forms pivotable connection by the first connecting axle in described first gear unit and the second connecting axle with described rollover platform; One end of described second connecting axle is set on described motor fixing frame, and the other end of described second connecting axle is fixed on described rollover platform; One end of described first connecting axle has circular cross-section, is set on described motor fixing frame; The other end of described first connecting axle has D tee section, is fixed on described rollover platform; The centre of described first connecting axle also has D tee section, is arranged with D hole gear.
7. device as claimed in claim 1, wherein said second power unit comprises the second motor and palm connected unit; Described palm connected unit is used for being connected with the metacarpus of apery prosthetic hand, and described second motor is fixed in described palm connected unit.
8. device as claimed in claim 7, wherein said second motor is either-rotation motor.
9. device as claimed in claim 7, wherein said palm connected unit is fixed on described rotatable platform.
10. device as claimed in claim 1, wherein said round tooth wheel has gear part and axle portion, described gear part and described rotatable platform affixed, described axle portion and described rollover platform affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520317074.8U CN204800661U (en) | 2015-05-15 | 2015-05-15 | People's wrist device is imitated to two degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520317074.8U CN204800661U (en) | 2015-05-15 | 2015-05-15 | People's wrist device is imitated to two degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204800661U true CN204800661U (en) | 2015-11-25 |
Family
ID=54585550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520317074.8U Expired - Fee Related CN204800661U (en) | 2015-05-15 | 2015-05-15 | People's wrist device is imitated to two degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204800661U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875215A (en) * | 2015-05-15 | 2015-09-02 | 上海交通大学 | Two-degree-of-freedom wrist simulating device |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
-
2015
- 2015-05-15 CN CN201520317074.8U patent/CN204800661U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875215A (en) * | 2015-05-15 | 2015-09-02 | 上海交通大学 | Two-degree-of-freedom wrist simulating device |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105252522B (en) | A kind of Flexible Transmission upper limb exoskeleton robot for wearing | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN104875214B (en) | A kind of Three Degree Of Freedom apery wrist device | |
| CN201572217U (en) | Human-simulated artificial hand used for rehabilitation | |
| CN203598078U (en) | Module type human-imitated artificial finger | |
| WO2019126919A1 (en) | Three-degree-of-freedom parallel mechanism | |
| CN203244559U (en) | Three-degree of freedom parallel serial upper limb rehabilitation robot | |
| CN104149101A (en) | Multi-joint arm of humanoid robot capable of playing piano | |
| CN104842345A (en) | Human-simulated mechanical arm based on hybrid driving of various artificial muscles | |
| CN110640774B (en) | Six-degree-of-freedom five-finger manipulator | |
| CN206780428U (en) | A kind of anthropomorphic full driving the five fingers flexible manipulator | |
| CN202060917U (en) | Curved wrist joint of artificial limb | |
| CN206811948U (en) | Robot lower limb | |
| CN105877972B (en) | A kind of exoskeleton rehabilitation robotic arm rotary joint | |
| CN110053066A (en) | A kind of two-freedom multi-mode Apery manipulator | |
| CN204800661U (en) | People's wrist device is imitated to two degrees of freedom | |
| CN202568539U (en) | Short electrically-controlled forearm prosthesis with two degrees of freedom | |
| CN207710796U (en) | A kind of seven degrees of freedom copy man mechanical arm | |
| CN109893398A (en) | A kind of bionical healing robot | |
| CN206598286U (en) | A kind of motion of robot four-degree-of-freedom mechanical arm | |
| CN109692061B (en) | Planetary transmission type artificial limb hand | |
| CN203738813U (en) | Multi-joint humanoid piano-playing robot arm | |
| CN204800660U (en) | People's wrist device is imitated to three degrees of freedom | |
| CN102178574B (en) | Compact bionic bendable artificial wrist joint | |
| CN108784892B (en) | Mechanical transmission type artificial limb arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 Termination date: 20210515 |