CN208543479U - A kind of machinery bionic hand and its thumb module - Google Patents
A kind of machinery bionic hand and its thumb module Download PDFInfo
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- CN208543479U CN208543479U CN201820485526.7U CN201820485526U CN208543479U CN 208543479 U CN208543479 U CN 208543479U CN 201820485526 U CN201820485526 U CN 201820485526U CN 208543479 U CN208543479 U CN 208543479U
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Abstract
The utility model discloses a kind of mechanical bionic hand and its thumb module, thumb module include thumb mechanism, thumb driving unit, rotate integrally transmission mechanism；Thumb mechanism includes the remote finger joint of thumb, the remote joint of thumb, the nearly finger joint shell of thumb, passes through the remote joint connection of thumb between the remote finger joint of thumb and the nearly finger joint shell of thumb；Thumb mechanism includes remote finger joint rotoflector transmission mechanism, and thumb driving unit connects the remote joint of thumb by remote finger joint rotoflector transmission mechanism, and the remote finger joint rotation of driving thumb is bent thumb；Thumb driving unit connects the nearly finger joint shell of thumb by rotating integrally transmission mechanism, and driving thumb mechanism rotates integrally.The utility model proposes mechanical bionic hand and its thumb module, lightweight and convenient: thumb structure uses differential coupling mechanism, reduces the weight of traditional bionic mechanical hand, gets rid of the feature of Rigid Manipulators heaviness, bring better experience sense to user.
Description
Technical field
The utility model belongs to medical rehabilitation technical field, is related to a kind of bionic hand more particularly to a kind of mechanical bionic hand；
In addition, the utility model further relates to a kind of thumb module of mechanical bionic hand.
Background technique
Bionic hand is still a more emerging hot topic as the main means for nowadays solving to take care of oneself after patient's amputation
Product, product category is irregular in the market, and there has been no clearly require such product and standard in industry.
The design concept of existing bionic hand product is abundant, and compliant mechanism, rigid mechanism are on the market everywhere as it can be seen that advantage and disadvantage
Obviously；The service life of compliant mechanism is limited, and driving the wear problem of rope is that such product develops the primary difficulty exploited market
Topic；And using rigid link as the bionic hand of movement mechanism, quality is big, bradykinesia is insensitive, the poor inconvenience of user experience etc.
Problem be also such product promote on the market encountered it is limited.
In view of this, nowadays there is an urgent need to design a kind of bionic hand structure, to overcome existing for existing bionic hand structure
Drawbacks described above.
Utility model content
It is lightweight and convenient the technical problem to be solved by the utility model is to provide a kind of mechanical bionic hand, have excellent
Experience sense: bionic hand uses differential coupling mechanism, greatly reduces the quality of traditional bionic mechanical hand, gets rid of Rigid Manipulators
Heavy feature, bring better experience sense to user.
In addition, the utility model also provides a kind of thumb module of mechanical bionic hand, and it is lightweight and convenient, there is excellent body
Test sense: bionic hand uses differential coupling mechanism, greatly reduces the quality of traditional bionic mechanical hand, gets rid of Rigid Manipulators
Heavy feature brings better experience sense to user.
In order to solve the above technical problems, the utility model adopts the following technical solution:
A kind of machinery bionic hand, including two the first modularization fingers, two the first modularization finger actuation mechanisms, second
Modularization finger, the second modularization finger actuation mechanism, thumb mechanism, thumb planetary gear transmission mechanism；
The first modularization finger 1 includes a modularization finger, and the second modularization finger includes two modules
Change finger；Two the first modularization fingers are respectively intended to bionical index finger, middle finger, the second modularization finger be used to it is bionical nameless and
Little finger, thumb mechanism are used to bionical thumb；
Each first modularization finger actuation mechanism connects corresponding first modularization finger, drives the first modularization hand
Finger movement；The second modularization finger actuation mechanism connects the second modularization finger, drives the second modularization hand
Finger movement；The thumb driving mechanism connects thumb mechanism by thumb planetary gear transmission mechanism, drives thumb machine
Structure movement；
The thumb mechanism includes the remote finger joint of thumb, the remote joint of thumb, thumb rotating electric machine the middle of the base, big
The nearly finger joint shell of thumb rotating electric machine base side plate, thumb, motor fixing belt, first bevel gear, driver blade；
The thumb planetary gear transmission mechanism include second bevel gear, third hand tap gear, first bearing, second bearing,
The planetary gear of planetary gear mechanism straightens journal axle, revolving fragment, Axial Mounting Part, the sun gear of planetary gear mechanism, axial restraint
Part；
The thumb driving mechanism includes minitype speed reducing motor；
The minitype speed reducing motor is fixed in thumb the middle of the base by motor fixing belt, and the one of minitype speed reducing motor
End is connected with first bevel gear, and first bevel gear is engaged with second bevel gear；Second bevel gear is installed on the first D profile shaft, and
And it fits together with driver blade；The rotational energy of bevel gear drives the rotation of the first D profile shaft, and then drives driver blade rotation；
The driver blade can push outside the nearly finger joint of thumb close to the nearly finger joint shell setting of thumb, the rotation of driver blade
Shell, to push the rotation in the remote joint of thumb, and the remote finger joint rotation of the thumb for driving joint remote with thumb to connect；
The second bevel gear is engaged with third hand tap gear, drives third hand tap gear rotation, and third hand tap gear is installed on
On 2nd D profile shaft, and then by the rotation of the 2nd D profile shaft drive planetary gear, first bearing, second are respectively equipped on gear both sides
Bearing, reinforces the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft is designed to variable diameters type, therefore limits
The axial displacement of one end, and the other end then limits its displacement by Axial Mounting Part；It planetary gear and is fixed on palm
Sun gear is meshed, different from planetary gear, the 3rd D profile shaft of sun gear be designed to it is non-rotatable, installation pedestal
Axis hole is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear is motionless, under the limitation of revolving fragment, around
Sun gear moves in a circle.
A kind of thumb module of machinery bionic hand, including thumb mechanism, thumb driving unit, thumb planetary gear
Transmission mechanism；
The thumb mechanism includes the remote finger joint of thumb, the remote joint of thumb, thumb rotating electric machine the middle of the base, big
The nearly finger joint shell of thumb rotating electric machine base side plate, thumb, motor fixing belt, first bevel gear, driver blade；
The thumb planetary gear transmission mechanism include second bevel gear, third hand tap gear, first bearing, second bearing,
The planetary gear of planetary gear mechanism straightens journal axle, revolving fragment, Axial Mounting Part, the sun gear of planetary gear mechanism, axial restraint
Part；
The thumb driving unit includes minitype speed reducing motor；
The minitype speed reducing motor is fixed in thumb the middle of the base by motor fixing belt, and the one of minitype speed reducing motor
End is connected with first bevel gear, and first bevel gear is engaged with second bevel gear；Bevel gear is installed on the first D profile shaft, and with
Driver blade fits together；The rotational energy of second bevel gear drives the rotation of the first D profile shaft, and then drives driver blade rotation；
The driver blade can push outside the nearly finger joint of thumb close to the nearly finger joint shell setting of thumb, the rotation of driver blade
Shell, to push the rotation in the remote joint of thumb, and the remote finger joint rotation of the thumb for driving joint remote with thumb to connect；
The second bevel gear is engaged with third hand tap gear, drives third hand tap gear rotation, and third hand tap gear is installed on
On 2nd D profile shaft, and then by the rotation of the 2nd D profile shaft drive planetary gear, first bearing, second are respectively equipped on gear both sides
Bearing, reinforces the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft is designed to variable diameters type, therefore limits
The axial displacement of one end, and the other end then limits its displacement by Axial Mounting Part；It planetary gear and is fixed on palm
Sun gear is meshed, different from planetary gear, the 3rd D profile shaft of sun gear be designed to it is non-rotatable, installation pedestal
Axis hole is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear is motionless, under the limitation of revolving fragment, around
Sun gear moves in a circle；
The bending motion of thumb mechanism and rotary motion are to couple, and the angle of the degree of bending and rotation is at setting
Ratio, and when minitype speed reducing motor rotation, the bending direction of thumb mechanism and the direction of rotation of thumb are all with positive process
Or with negative process；Original state of the natural stretching, extension of thumb mechanism as bending motion, thumb mechanism are placed in hand side herein
Original state of the side as thumb rotary motion, thumb mechanism from stretching routine to complete curved process as positive direction,
Thumb mechanism moves to positive process of the process perpendicular to hand as rotary motion from hand side.
A kind of thumb module of machinery bionic hand, including thumb mechanism, thumb driving unit, integral-rotation transmission
Mechanism；
The thumb mechanism includes the remote finger joint of thumb, the remote joint of thumb, the nearly finger joint shell of thumb, the big thumb
Refer between remote finger joint and the nearly finger joint shell of thumb through the remote joint connection of thumb；
The thumb mechanism includes remote finger joint rotoflector transmission mechanism；The thumb driving unit passes through described remote
Finger joint rotoflector transmission mechanism connects the remote joint of thumb, can drive the rotation of the remote finger joint of thumb, so that thumb is bent；
The thumb driving unit connects the nearly finger joint shell of the thumb by the integral-rotation transmission mechanism, drives
Dynamic thumb mechanism rotates integrally.
As a kind of embodiment of the utility model, the remote finger joint rotoflector transmission mechanism is differential couple machine
Structure, the thumb driving unit connect thumb mechanism by differential coupling mechanism, drive the rotation of the remote finger joint of thumb dynamic
Make, so that thumb is bent；
The thumb mechanism further includes thumb rotating electric machine pedestal, the nearly finger joint shell of thumb, motor fixing belt,
One bevel gear, driver blade；
The differential coupling mechanism is to make the curved mechanism of thumb, is referred in thumb mechanism in addition to the remote finger joint of thumb, solid
Determine most of part of band, including the remote joint of thumb, thumb rotating electric machine the middle of the base, the nearly finger joint shell of thumb, big
Thumb rotating electric machine, first bevel gear, driver blade；
The thumb driving unit is fixed in thumb the middle of the base by motor fixing belt, thumb driving unit
One end be connected with first bevel gear, first bevel gear is engaged with second bevel gear；Bevel gear is installed on the first D profile shaft, and
And it fits together with driver blade；The rotational energy of bevel gear drives the rotation of the first D profile shaft, and then drives driver blade rotation；
The driver blade can push outside the nearly finger joint of thumb close to the nearly finger joint shell setting of thumb, the rotation of driver blade
Shell, to push the rotation in the remote joint of thumb, and the remote finger joint rotation of the thumb for driving joint remote with thumb to connect.
As a kind of embodiment of the utility model, the integral-rotation transmission mechanism includes planetary gear transmission mechanism；
Planetary gear transmission mechanism includes second bevel gear, third hand tap gear, first bearing, second bearing, planetary gear, straightens journal axle, rotation
Rotor, Axial Mounting Part, the sun gear of planetary gear mechanism, Axial Mounting Part；
The second bevel gear is engaged with third hand tap gear, drives third hand tap gear rotation, and third hand tap gear is installed on
On 2nd D profile shaft, and then by the rotation of the 2nd D profile shaft drive planetary gear, first bearing, second are respectively equipped on gear both sides
Bearing, reinforces the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft is designed to variable diameters type, therefore limits
The axial displacement of one end, and the other end then limits its displacement by Axial Mounting Part；It planetary gear and is fixed on palm
Sun gear is meshed, different from planetary gear, the 3rd D profile shaft of sun gear be designed to it is non-rotatable, installation pedestal
Axis hole is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear is motionless, under the limitation of revolving fragment, around
Sun gear moves in a circle；
Differential coupling mechanism is to drive using motionless thumb rotating electric machine the middle of the base as pedestal by thumb driving unit
Dynamic first bevel gear, then first bevel gear is engaged with second bevel gear, the driver blade being connected with bevel gear is driven, to drive
The nearly finger joint shell of thumb pushes forward joint, to make digital flexion；
The bending motion of thumb mechanism and rotary motion are to couple, and the angle of the degree of bending and rotation is at setting
Ratio, and when minitype speed reducing motor rotation, the bending direction of thumb mechanism and the direction of rotation of thumb are all with positive process
Or with negative process；Original state of the natural stretching, extension of thumb as bending motion, thumb mechanism are placed in hand side work herein
For the original state of thumb mechanism rotary motion, thumb mechanism is from stretching routine to completely curved process as square
Positive process of the process perpendicular to hand as rotary motion is moved to, thumb mechanism from hand side.
As a kind of embodiment of the utility model, the remote finger joint rotoflector transmission mechanism is differential couple machine
Structure, the thumb driving unit connect thumb mechanism by differential coupling mechanism, drive the rotation of the remote finger joint of thumb dynamic
Make, so that thumb is bent.
As a kind of embodiment of the utility model, the thumb driving unit includes minitype speed reducing motor.
As a kind of embodiment of the utility model, the thumb driving unit is driven big by differential coupling mechanism
Thumb mechanism carries out bending motion while rotating.
As a kind of embodiment of the utility model, the thumb mechanism includes first bevel gear, the differential coupling
Closing mechanism includes second bevel gear, third hand tap gear, planetary gear, sun gear；
The first bevel gear is meshed with second bevel gear, and second bevel gear is meshed with third hand tap gear；Described
Third hand tap gear energy band moves planetary gear rotation；Planetary gear is meshed with sun gear.
As a kind of embodiment of the utility model, the bionic hand thumb uses differential coupling mechanism, and use is micro-
Type decelerating motor drives first bevel gear rotation, and transmits torque with this to drive the bending of the remote finger joint of thumb, then pass through
The rotary motion of third hand tap gear drive thumb entirety.
As a kind of embodiment of the utility model, the bionic hand thumb drives big thumb using differential coupling mechanism
The bending of finger, using planetary gear mechanism drive thumb rotation, transmission mechanism be then bevel gear two-by-two between engagement.
As a kind of embodiment of the utility model, the thumb mechanism further include thumb rotating electric machine pedestal,
The nearly finger joint shell of thumb, motor fixing belt, first bevel gear, driver blade；
The thumb planetary gear transmission mechanism include second bevel gear, third hand tap gear, first bearing, second bearing,
Planetary gear straightens journal axle, revolving fragment, Axial Mounting Part, the sun gear of planetary gear mechanism, Axial Mounting Part；
The thumb driving unit is fixed in thumb the middle of the base by motor fixing belt, thumb driving unit
One end be connected with first bevel gear, first bevel gear is engaged with second bevel gear；First bevel gear is installed on the first D profile shaft
On, and fit together with driver blade；The rotational energy of bevel gear drives the rotation of the first D profile shaft, and then drives driver blade rotation；
The driver blade can push outside the nearly finger joint of thumb close to the nearly finger joint shell setting of thumb, the rotation of driver blade
Shell, to push the rotation in the remote joint of thumb, and the remote finger joint rotation of the thumb for driving joint remote with thumb to connect；
The second bevel gear is engaged with third hand tap gear, drives third hand tap gear rotation, and third hand tap gear is installed on
On 2nd D profile shaft, and then by the rotation of the 2nd D profile shaft drive planetary gear, first bearing, second are respectively equipped on gear both sides
Bearing, reinforces the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft is designed to variable diameters type, therefore limits
The axial displacement of one end, and the other end then limits its displacement by Axial Mounting Part；It planetary gear and is fixed on palm
Sun gear is meshed, different from planetary gear, the 3rd D profile shaft of sun gear be designed to it is non-rotatable, installation pedestal
Axis hole is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear is motionless, under the limitation of revolving fragment, around
Sun gear moves in a circle；
The bending motion of thumb mechanism and rotary motion are to link, and the angle of the degree of bending and rotation is at setting
Ratio, and when minitype speed reducing motor rotation, the bending direction of thumb mechanism and the direction of rotation of thumb are all with positive process
Or with negative process；Original state of the natural stretching, extension of thumb as bending motion, thumb mechanism are placed in hand side work herein
For the original state of thumb mechanism rotary motion, thumb mechanism is from stretching routine to completely curved process as square
Positive process of the process perpendicular to hand as rotary motion is moved to, thumb mechanism from hand side.
The bionic hand thumb uses differential coupling mechanism, is rotated using minitype speed reducing motor band dynamic bevel gear, and with
This transmitting torque is to drive the bending of the remote finger joint of thumb, then drive the rotation of thumb entirety to transport by third hand tap gear
It is dynamic.
The bionic hand thumb drives the bending of thumb using differential coupling mechanism, is driven using planetary gear mechanism big
The rotation of thumb, transmission mechanism be then bevel gear two-by-two between engagement.
The rotary motion of the bionic hand thumb and bending motion are linkages, by strict angle and curved journey
Degree calculates to obtain more appropriate Planetary Gear Transmission ratio, so that this linkage pattern can satisfy the exhausted big portion of daily life
Divide demand.
The utility model discloses a kind of mechanical bionic hand, can be activation lacking mechanical bionic hand, so-called drive lacking refers to
The number of Standalone Drives is less than number of degrees of freedom, in system.The bionic hand is mainly made of motor, wrist and manipulator three parts.
The utility model proposes mechanical bionic hand and its thumb module, beneficial effect be:
1, long service life: the durable lasting feature of rigid mechanism has been continued, ensure that product in longer period of time
It works normally；
2, practicability is high: innovation uses linkage design, so that thumb is carried out bending motion while rotating, sacrifices
A part of freedom degree, but it is sufficient for spherical grasping, accurate to grab, the daily required function such as column taking, without necessary
Side pinch function is then abandoned.
3, tailored appearance is generous: differential coupling mechanism is used, so that minitype speed reducing motor 46 can be placed in inside thumb,
So that the bending of thumb is convenient, good appearance.
4, lightweight and convenient, have excellent experience sense: thumb structure also uses drive lacking to design, and greatly reduces tradition
The quality of bionic mechanical hand, gets rid of the heavy feature of Rigid Manipulators, brings better experience sense to user；
The design of 5 thumbs uses planetary gear mechanism, makes it possible to a motor rotation for controlling thumb and curved
Song, meet structure it is more small and exquisite while, do not abandon the active rotation function of thumb, rather than use passive rotation knot
Structure, and most of demand of the operating mode covering daily life of its design.
Detailed description of the invention
Fig. 1 is the schematic cross-sectional view of the mechanical bionic hand of the utility model embodiment；
Fig. 2 is the mechanical bionic hand main view of the utility model embodiment；
Fig. 3 is the structural schematic diagram of thumb part in the utility model machinery bionic hand；
Fig. 4 is another structural schematic diagram of thumb part in the utility model machinery bionic hand；
Fig. 5 is the schematic cross-sectional view of the modularization finger 1 of the bionic hand of the utility model embodiment；
Fig. 6 is the top view of the modularization finger 1 of the bionic hand of the utility model embodiment；
Fig. 7 is the main view of the bionic hand modularization finger 2 of the utility model embodiment.
Fig. 8 is the cross-sectional view of the bionic hand modularization finger 2 of the utility model embodiment.
Specific embodiment
The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one
Fig. 1 to Fig. 8 is please referred to, the utility model discloses a kind of thumb module of mechanical bionic hand, including thumb machine
Structure 4, thumb driving unit 46, thumb planetary gear transmission mechanism 5.
The thumb mechanism 4 is including in the remote finger joint 41 of thumb, the remote joint 42 of thumb, thumb rotating electric machine pedestal
Portion 43, the nearly finger joint shell 45 of thumb, motor fixing belt 47, first bevel gear 48, passes thumb rotating electric machine base side plate 44
Movable plate 49.
The thumb mechanism 4 includes differential coupling mechanism, and the differential coupling mechanism is to make the curved mechanism of thumb,
Refer to most of part in thumb mechanism 4 in addition to the remote finger joint 41 of thumb, fixing belt 47, including the remote joint 42 of thumb, big thumb
Refer to rotating electric machine the middle of the base 43, the nearly finger joint shell 45 of thumb, thumb rotating electric machine 46, first bevel gear 48, driver blade
49。
The thumb driving unit is fixed in thumb the middle of the base 43 by motor fixing belt 47, thumb driving
One end of unit 46 is connected with first bevel gear 48, and first bevel gear 48 is engaged with second bevel gear 55；Bevel gear 55 is installed on
On first D profile shaft, and fit together with driver blade 49；The rotational energy of bevel gear 55 drives the rotation of the first D profile shaft, and then band
Dynamic driver blade 49 rotates.The driver blade 49 is arranged close to the nearly finger joint shell 45 of thumb, and the rotation of driver blade 49 can push greatly
The nearly finger joint shell 45 of thumb, to push the rotation in the remote joint 42 of thumb, and it is big to drive joint 42 remote with thumb to connect
The remote finger joint 41 of thumb rotates.
Differential coupling mechanism is with motionless thumb rotating electric machine the middle of the base 43 for pedestal, leans on thumb driving unit
First bevel gear 48 is driven, then first bevel gear 48 is engaged with second bevel gear 51, drives the transmission being connected with bevel gear 51
Piece 49, to drive the nearly finger joint shell 45 of thumb to push joint 42 forward, to make digital flexion.
The thumb planetary gear transmission mechanism 5 (rotating integrally transmission mechanism as thumb) includes second bevel gear
51, third hand tap gear 52, first bearing 53, second bearing 54, planetary gear mechanism planetary gear 55, straighten journal axle 56, rotation
Piece 57, Axial Mounting Part 58, the sun gear 59 of planetary gear mechanism, Axial Mounting Part 510.
The thumb driving unit includes minitype speed reducing motor 46.The minitype speed reducing motor 46 passes through motor fixing belt
47 are fixed in thumb the middle of the base 43, and one end of minitype speed reducing motor 46 is connected with first bevel gear 48, first bevel gear
48 engage with second bevel gear 51；First bevel gear 48 is installed on the first D profile shaft, and is fit together with driver blade 49；
The rotational energy of first bevel gear 48 drives the rotation of the first D profile shaft, and then driver blade 49 is driven to rotate.
The driver blade 49 is arranged close to the nearly finger joint shell 45 of thumb, and the rotation of driver blade 49 can push thumb closely to refer to
Shell 45 is saved, to push the rotation in the remote joint 42 of thumb, and the thumb for driving joint 42 remote with thumb to connect far refers to
41 rotation of section.
The second bevel gear 51 is engaged with third hand tap gear 52, and third hand tap gear 52 is driven to rotate, and third hand tap gear
52 are installed on the 2nd D profile shaft, and then the rotation of planetary gear 55 is driven by the 2nd D profile shaft, are respectively equipped with the on gear both sides
One bearing 53, second bearing 54, reinforce the stability of its movement, and limit its axial displacement, and the 2nd D profile shaft is designed to become
Diameter Type, therefore the axial displacement of one end is limited, and the other end then limits its displacement by Axial Mounting Part 58；Planetary gear
55 are meshed with the sun gear 59 being fixed on palm, and different from planetary gear, the 3rd D profile shaft of sun gear is designed to not
Rotatable, the axis hole of installation pedestal is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear 59 is motionless,
Under the limitation of revolving fragment 57, move in a circle around sun gear 59.
The bionic hand thumb drives the bending of thumb using differential coupling mechanism, is driven using planetary gear mechanism big
The rotation of thumb, transmission mechanism be then bevel gear two-by-two between engagement
The bending motion of thumb mechanism and rotary motion are to link, and the angle of the degree of bending and rotation is at setting
Ratio, and when minitype speed reducing motor rotation, the bending direction of thumb mechanism and the direction of rotation of thumb are all with positive process
Or with negative process；Original state of the natural stretching, extension of thumb mechanism as bending motion, thumb mechanism are placed in hand side herein
Original state of the side as thumb rotary motion, thumb mechanism from stretching routine to complete curved process as positive direction,
Thumb mechanism moves to positive process of the process perpendicular to hand as rotary motion from hand side.
The utility model regard the bending of thumb and rotation as a ganged movement, has abandoned the case where movement is pinched in survey
Under, this linked manner is enough to complete spherical taking, column taking and accurate crawl, and only uses a motor, reduces cost
It can satisfy most daily demand simultaneously.
Embodiment two
Referring to Fig. 1, the utility model discloses a kind of mechanical bionic hand, so-called drive lacking, which refers in system, independently to be driven
The number of device is less than number of degrees of freedom,.The machinery bionic hand includes wrist, robot section；The robot section includes two
First modularization finger, two the first modularization finger actuation mechanisms, the second modularization finger, the second modularization finger actuation machines
Structure, thumb mechanism, thumb planetary gear transmission mechanism.
The first modularization finger 1 includes a modularization finger, and the second modularization finger includes two modules
Change finger；Two the first modularization fingers are respectively intended to bionical index finger, middle finger, the second modularization finger be used to it is bionical nameless and
Little finger, thumb mechanism are used to bionical thumb.
Each first modularization finger actuation mechanism connects corresponding first modularization finger, drives the first modularization hand
Finger movement；The second modularization finger actuation mechanism connects the second modularization finger, drives the second modularization hand
Finger movement；The thumb driving mechanism connects thumb mechanism 4 by thumb planetary gear transmission mechanism 5, drives thumb
Mechanism 4 acts；
The modularization finger includes the remote finger joint 11 of finger, finger connecting rod 12, the nearly finger joint shell 13 of finger, torsional spring 14, hand
Refer to interlocking bar 15, anticollision mechanism 2；The anticollision mechanism 2 includes finger pulling crash bar 21.
The remote finger joint 11 of the finger, finger connecting rod 12 respectively matched with 2mm bolt by interference by finger joint shell 13 close with finger
Connection is closed, prevents axial displacement, following 2mm bolt connecting mode is all such；The finger joint close with finger of finger interlocking bar 15
Shell 13 is bolted by 2mm；Finger interlocking bar 15 is bolted with finger pulling crash bar 21 by 2mm；
The front end of the finger pulling crash bar 21 is bolted with finger interlocking bar 15 by 2mm；Finger pulling anticollision
Output shaft of the rear end of bar 21 then with linear motor 3 is bolted by 2mm.
The first modularization finger actuation mechanism includes first straight line motor 3；The second modularization finger actuation machine
Structure includes second straight line motor；The first straight line motor 3, second straight line motor include linear motor ontology and linear motor
Fixing end；Each first straight line motor 3 can drive a corresponding modularization finger movement, second straight line motor connection described second
Two modularization fingers that modularization finger includes, can drive two modularization finger movements.
The linear motor ontology 22 connects finger pulling crash bar 21, and finger pulling crash bar 21 connects finger interlocking bar
15 one end, finger joint shell 13 close with finger connecting rod 12, finger is bolted finger interlocking bar 15 using 2mm respectively, and finger connects
One end of one end of bar 12 finger joint 11 remote with finger is rotatably connected.
Finger interlocking bar 15 can drive finger closely to refer under the driving of linear motor ontology 22 and finger pulling crash bar 21
Section shell 13 and finger connecting rod 12 move in a circle, since there are speed difference, the speed of this circular motion for the two circular motion
Degree relative different will make the faster connecting rod 12 of peripheral speed that the remote finger joint 11 of finger be driven to do bending motion；If finger base is referred to
One bolt fixed point of section regards speed Absolute instantaneous center of rotation as, then the bending motion of finger is considered as around the instantaneous circular motion,
And the fixed point 1 and fixed point 2 of finger connecting rod 12 and the nearly finger joint shell 13 of finger finger joint 11 remote with finger respectively, absolutely apart from this
Instantaneous radius is different, therefore under same angular velocity, there are speed differences for circular motion.
By addition torsional spring 14 come so that finger is restored, and a pretightning force is added, so that finger is in nature
Under be maintained；For torsional spring 14 at the tie point of the nearly finger joint 13 of finger finger joint 11 remote with finger, one end of torsional spring is embedded in finger
Remote finger joint 11, the other end is then embedded in the slot of finger connecting rod 12, when digital flexion, give one opposite torque of finger so that
It obtains finger and reverts back to extended state in the case where motor does not do work.
When external force is bent finger, to prevent excessive external force finger joint to be transmitted to by finger the push rod of motor, then add
Anticollision mechanism；When external force is when finger, digital flexion drives finger connecting rod 12 to move downward, then is made by interlocking bar 15
Finger pulling crash bar 21 continues to move down, but pulling force crash bar 21 due to top be equipped with sliding slot, so limit range
Interior to provide pulling force and cannot provide thrust, such external force just can not act on motor push rod and make motor impaired；Work as motor
When normal work, motor provides pulling force, then moving down for finger pulling crash bar 21 is driven by pull rod, to drive finger mechanism
Bending.
The thumb mechanism 4 is including in the remote finger joint 41 of thumb, the remote joint 42 of thumb, thumb rotating electric machine pedestal
Portion 43, the nearly finger joint shell 45 of thumb, motor fixing belt 47, first bevel gear 48, passes thumb rotating electric machine base side plate 44
Movable plate 49.
The thumb planetary gear transmission mechanism 5 includes second bevel gear 51, third hand tap gear 52, first bearing 53, the
Two bearings 54, planetary gear mechanism planetary gear 55, straighten journal axle 56, revolving fragment 57, Axial Mounting Part 58, planetary gear mechanism
Sun gear 59, Axial Mounting Part 510.
The thumb driving mechanism includes minitype speed reducing motor 46.
The minitype speed reducing motor 46 is fixed in thumb the middle of the base 43 by motor fixing belt 47, micro speed reducing electricity
One end of machine 46 is connected with first bevel gear 48, and first bevel gear 48 is engaged with second bevel gear 51；First bevel gear 48 is installed
In on the first D profile shaft, and fit together with driver blade 49；The rotational energy of first bevel gear 48 drives the rotation of the first D profile shaft,
And then driver blade 49 is driven to rotate.
The driver blade 49 is arranged close to the nearly finger joint shell 45 of thumb, and the rotation of driver blade 49 can push thumb closely to refer to
Shell 45 is saved, to push the rotation in the remote joint 42 of thumb, and the thumb for driving joint 42 remote with thumb to connect far refers to
41 rotation of section.
The second bevel gear 51 is engaged with third hand tap gear 52, and third hand tap gear 52 is driven to rotate, and third hand tap gear
52 are installed on the 2nd D profile shaft, and then the rotation of planetary gear 55 is driven by the 2nd D profile shaft, are respectively equipped with the on gear both sides
One bearing 53, second bearing 54, reinforce the stability of its movement, and limit its axial displacement, and the 2nd D profile shaft is designed to become
Diameter Type, therefore the axial displacement of one end is limited, and the other end then limits its displacement by Axial Mounting Part 58；Planetary gear
55 are meshed with the sun gear 59 being fixed on palm, and different from planetary gear, the 3rd D profile shaft of sun gear is designed to not
Rotatable, the axis hole of installation pedestal is all D type, and the axis hole of the installation pedestal of planetary gear is circle；Therefore sun gear 59 is motionless,
Under the limitation of revolving fragment 57, move in a circle around sun gear 59.
The bending motion of thumb finger and rotary motion are to link, and the angle of the degree of bending and rotation is at setting
Ratio, and when minitype speed reducing motor rotation, the bending direction of thumb and the direction of rotation of thumb are all with positive process or with negative
Process；Original state of the natural stretching, extension of thumb as bending motion herein, thumb are placed in hand side as thumb and rotate fortune
Dynamic original state, from stretching routine to complete curved process as positive direction, thumb moves to vertically thumb from hand side
In positive process of the process as rotary motion of hand.
Embodiment three
A kind of thumb module of machinery bionic hand, including thumb mechanism, thumb driving unit, integral-rotation transmission
Mechanism.The thumb mechanism 4 includes the remote finger joint of thumb, the remote joint of thumb, the nearly finger joint shell of thumb, the thumb
It is connected between remote finger joint and the nearly finger joint shell of thumb by the remote joint of thumb.
The thumb mechanism includes remote finger joint rotoflector transmission mechanism (differential driving mechanism)；The thumb driving
Unit connects the remote joint of thumb by the remote finger joint rotoflector transmission mechanism, can drive the rotation of the remote finger joint of thumb,
So that thumb is bent.
The thumb driving unit connects the nearly finger joint shell 45 of the thumb by the integral-rotation transmission mechanism,
Thumb mechanism 4 is driven to rotate integrally.
Example IV
The difference between this embodiment and the first embodiment lies in can be revolved using worm and gear instead of planetary gear in the present embodiment
Rotation mechanism drives thumb rotation.In addition, helical teeth also can be used for straight spur gear or the roller gear of curve tooth can also
To reach the same effect.
In conclusion the utility model proposes the utility model proposes mechanical bionic hand have the advantage that
1, long service life: the durable lasting feature of rigid mechanism has been continued, ensure that product in longer period of time
It works normally；
2, practicability is high: innovation uses linkage design, so that thumb is carried out bending motion while rotating, sacrifices
A part of freedom degree, but it is sufficient for spherical grasping, accurate to grab, the daily required function such as column taking, without necessary
Survey is pinched function and is then abandoned.
3, tailored appearance is generous: differential coupling mechanism is used, so that minitype speed reducing motor 46 can be placed in inside thumb,
So that the bending of thumb is convenient, good appearance.
4, lightweight and convenient, have excellent experience sense: thumb structure also uses drive lacking to design, and greatly reduces tradition
The quality of bionic mechanical hand, gets rid of the heavy feature of Rigid Manipulators, brings better experience sense to user；
The design of 5 thumbs uses planetary gear mechanism, makes it possible to a motor rotation for controlling thumb and curved
Song, meet structure it is more small and exquisite while, do not abandon the active rotation function of thumb, rather than use passive rotation knot
Structure, and most of demand of the operating mode covering daily life of its design.
Here the description and application of the utility model are illustrative, are not wishing to for the scope of the utility model being limited in
It states in embodiment.The deformation and change of embodiments disclosed herein be it is possible, for the ordinary skill people of those this fields
The replacement of embodiment and equivalent various parts are well known for member.It should be appreciated by the person skilled in the art that not taking off
In the case where spirit or essential characteristics from the utility model, the utility model can in other forms, structure, arrangement, ratio,
And it is realized with other components, material and component.It, can be to this in the case where not departing from the scope of the utility model and spirit
In disclosed embodiment carry out other deformations and change.
Claims (10)
1. a kind of machinery bionic hand, which is characterized in that including two the first modularization fingers, two the first modularization finger actuations
Mechanism, the second modularization finger, the second modularization finger actuation mechanism, thumb mechanism, thumb planetary gear transmission mechanism；
The first modularization finger includes a modularization finger, and the second modularization finger includes two modularization hands
Refer to；Two the first modularization fingers are respectively intended to bionical index finger, middle finger, and the second modularization finger is used to bionical nameless and small thumb
Refer to, thumb mechanism is used to bionical thumb；
Each first modularization finger actuation mechanism connects corresponding first modularization finger, drives the first modularization finger dynamic
Make；The second modularization finger actuation mechanism connects the second modularization finger, drives the second modularization finger dynamic
Make；The thumb driving mechanism drives thumb by thumb planetary gear transmission mechanism (5) connection thumb mechanism (4)
Mechanism (4) movement；
The thumb mechanism (4) includes the remote finger joint of thumb (41), the remote joint of thumb (42), thumb rotating electric machine pedestal
Middle part (43), thumb rotating electric machine base side plate (44), the nearly finger joint shell (45) of thumb, motor fixing belt (47), first
Bevel gear (48), driver blade (49)；
The thumb planetary gear transmission mechanism (5) includes second bevel gear (51), third hand tap gear (52), first bearing
(53), second bearing (54), planetary gear mechanism planetary gear (55), straighten journal axle (56), revolving fragment (57), Axial Mounting Part
(58), the sun gear (59) of planetary gear mechanism, the second Axial Mounting Part (510)；
The thumb driving mechanism includes minitype speed reducing motor (46)；The minitype speed reducing motor (46) passes through motor fixing belt
(47) it is fixed in thumb rotating electric machine the middle of the base (43), one end of minitype speed reducing motor (46) is connected with first bevel gear
(48), first bevel gear (48) is engaged with second bevel gear (51)；Second bevel gear (51) is installed on the first D profile shaft, and
It fits together with driver blade；The rotational energy of second bevel gear (51) drives the rotation of the first D profile shaft, and then drives driver blade (49)
Rotation；
The driver blade (49) can push thumb close close to nearly finger joint shell (45) setting of thumb, the rotation of driver blade (49)
Finger joint shell (45), to push the rotation in the remote joint of thumb (42), and it is big to drive joint (42) remote with thumb to connect
The remote finger joint of thumb (41) rotation；
The second bevel gear (51) is engaged with third hand tap gear (52), and third hand tap gear (52) is driven to rotate, and triconodont
Wheel (52) is installed on the 2nd D profile shaft, and then the rotation of planetary gear (55) is driven by the 2nd D profile shaft, is distinguished on gear both sides
Equipped with first bearing (53), second bearing (54), reinforce the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft
It is designed to variable diameters type, therefore limits the axial displacement of one end, and the other end passes through Axial Mounting Part (58) then to limit
It is displaced；Planetary gear (55) is meshed with the sun gear (59) being fixed on palm, different from planetary gear, the of sun gear
Three D profile shafts are designed to non-rotatable, and the axis hole of installation pedestal is all D type, and the axis hole of the installation pedestal of planetary gear is circle
Shape；Therefore sun gear (59) is motionless, under the limitation of revolving fragment (57), moves in a circle around sun gear (59).
2. it is a kind of machinery bionic hand thumb module, it is characterised in that: including thumb mechanism (4), thumb driving unit,
Thumb planetary gear transmission mechanism (5)；
The thumb mechanism (4) includes the remote finger joint of thumb (41), the remote joint of thumb (42), thumb rotating electric machine pedestal
Middle part (43), thumb rotating electric machine base side plate (44), the nearly finger joint shell (45) of thumb, motor fixing belt (47), first
Bevel gear (48), driver blade (49)；
The thumb planetary gear transmission mechanism (5) includes second bevel gear (51), third hand tap gear (52), first bearing
(53), second bearing (54), planetary gear mechanism planetary gear (55), straighten journal axle (56), revolving fragment (57), Axial Mounting Part
(58), the sun gear (59) of planetary gear mechanism, the second Axial Mounting Part (510)；
The thumb driving unit includes minitype speed reducing motor (46)；
The minitype speed reducing motor (46) is fixed in thumb rotating electric machine the middle of the base (43) by motor fixing belt (47),
One end of minitype speed reducing motor (46) is connected with first bevel gear (48), and first bevel gear (48) is nibbled with second bevel gear (51)
It closes；Second bevel gear (51) is installed on the first D profile shaft, and is fit together with driver blade (49)；
The rotational energy of second bevel gear (51) drives the rotation of the first D profile shaft, and then drives driver blade (49) rotation；
The driver blade (49) can push thumb close close to nearly finger joint shell (45) setting of thumb, the rotation of driver blade (49)
Finger joint shell (45), to push the rotation in the remote joint of thumb (42), and it is big to drive joint (42) remote with thumb to connect
The remote finger joint of thumb (41) rotation；
The second bevel gear (51) is engaged with third hand tap gear (52), and third hand tap gear (52) is driven to rotate, and triconodont
Wheel (52) is installed on the 2nd D profile shaft, and then the rotation of planetary gear (55) is driven by the 2nd D profile shaft, is distinguished on gear both sides
Equipped with first bearing (53), second bearing (54), reinforce the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft
It is designed to variable diameters type, therefore limits the axial displacement of one end, and the other end passes through Axial Mounting Part (58) then to limit
It is displaced；Planetary gear (55) is meshed with the sun gear (59) being fixed on palm, different from planetary gear, the of sun gear
Three D profile shafts are designed to non-rotatable, and the axis hole of installation pedestal is all D type, and the axis hole of the installation pedestal of planetary gear is circle
Shape；Therefore sun gear (59) is motionless, under the limitation of revolving fragment (57), moves in a circle around sun gear (59).
3. it is a kind of machinery bionic hand thumb module, it is characterised in that: including thumb mechanism (4), thumb driving unit,
Rotate integrally transmission mechanism；
The thumb mechanism (4) includes the remote finger joint of thumb (41), the remote joint of thumb (42), the nearly finger joint shell of thumb
(45), it is connect between the remote finger joint of the thumb (41) finger joint shell (45) close with thumb by the remote joint of thumb (42)；
The thumb mechanism (4) includes remote finger joint rotoflector transmission mechanism；The thumb driving unit passes through described remote
Finger joint rotoflector transmission mechanism connects the remote joint (42) of thumb, the rotation of the remote finger joint of thumb can be driven, so that thumb
Bending；
The thumb driving unit connects the nearly finger joint shell (45) of the thumb by the integral-rotation transmission mechanism, drives
Dynamic thumb mechanism (4) rotate integrally.
4. the thumb module of machinery bionic hand according to claim 3, it is characterised in that:
The remote finger joint rotoflector transmission mechanism is differential coupling mechanism, and the thumb driving unit passes through differential couple machine
Structure connects thumb mechanism (4), drives the spinning movement of the remote finger joint of thumb, so that thumb is bent；
The thumb mechanism (4) further includes thumb rotating electric machine pedestal, the nearly finger joint shell (45) of thumb, motor fixing belt
(47), first bevel gear (48), driver blade (49)；
The differential coupling mechanism is to make the curved mechanism of thumb, refer in thumb mechanism (4) in addition to the remote finger joint of thumb (41),
Most of part of fixing belt (47), including the remote joint of thumb (42), thumb rotating electric machine the middle of the base (43), thumb
Nearly finger joint shell (45), thumb rotating electric machine, first bevel gear (48), driver blade (49)；
The thumb driving unit is fixed in thumb rotating electric machine the middle of the base (43) by motor fixing belt (47), greatly
One end of thumb drives unit is connected with first bevel gear (48), and first bevel gear (48) is engaged with second bevel gear (51)；The
Two bevel gears (51) are installed on the first D profile shaft, and fit together with driver blade (49)；The rotation of second bevel gear (51)
The first D profile shaft can be driven to rotate, and then drive driver blade (49) rotation；
The driver blade (49) can push thumb close close to nearly finger joint shell (45) setting of thumb, the rotation of driver blade (49)
Finger joint shell (45), to push the rotation in the remote joint of thumb (42), and it is big to drive joint (42) remote with thumb to connect
The remote finger joint of thumb (41) rotation.
5. the thumb module of machinery bionic hand according to claim 4, it is characterised in that:
The integral-rotation transmission mechanism includes planetary gear transmission mechanism (5)；Planetary gear transmission mechanism (5) includes second bevel gear
(51), third hand tap gear (52), first bearing (53), second bearing (54), planetary gear (55), straighten journal axle (56), revolving fragment
(57), Axial Mounting Part (58), the sun gear (59) of planetary gear mechanism, the second Axial Mounting Part (510)；
The second bevel gear (51) is engaged with third hand tap gear (52), and third hand tap gear (52) is driven to rotate, and triconodont
Wheel (52) is installed on the 2nd D profile shaft, and then the rotation of planetary gear (55) is driven by the 2nd D profile shaft, is distinguished on gear both sides
Equipped with first bearing (53), second bearing (54), reinforce the stability of its movement, and limits its axial displacement, and the 2nd D profile shaft
It is designed to variable diameters type, therefore limits the axial displacement of one end, and the other end passes through Axial Mounting Part (58) then to limit
It is displaced；Planetary gear (55) is meshed with the sun gear (59) being fixed on palm, different from planetary gear, the of sun gear
Three D profile shafts are designed to non-rotatable, and the axis hole of installation pedestal is all D type, and the axis hole of the installation pedestal of planetary gear is circle
Shape；Therefore sun gear (59) is motionless, under the limitation of revolving fragment (57), moves in a circle around sun gear (59)；
Differential coupling mechanism is with motionless thumb rotating electric machine the middle of the base (43) for pedestal, is driven by thumb driving unit
Dynamic first bevel gear (48), then first bevel gear (48) is engaged with second bevel gear (51), is driven and is connected with bevel gear (51)
Driver blade (49), to drive the nearly finger joint shell (45) of thumb to push the remote joint (42) of thumb forward, to make finger
Bending.
6. the thumb module of machinery bionic hand according to claim 3, it is characterised in that:
The thumb driving unit includes minitype speed reducing motor (46).
7. the thumb module of machinery bionic hand according to claim 3, it is characterised in that:
The thumb driving unit drives thumb mechanism (4) to carry out bending fortune while rotating by differential coupling mechanism
It is dynamic.
8. the thumb module of machinery bionic hand according to claim 3, it is characterised in that:
The bionic hand thumb uses differential coupling mechanism, drives first bevel gear to rotate using minitype speed reducing motor, and with
This transmitting torque is to drive the bending of the remote finger joint of thumb；
The bionic hand thumb drives the rotary motion of another bevel gear drive thumb entirety using planetary gear transmission mechanism.
9. the thumb module of machinery bionic hand according to claim 3, it is characterised in that:
The bionic hand thumb drives the bending of thumb using differential coupling mechanism, is driven using planetary gear transmission mechanism big
The integral-rotation of thumb, transmission mechanism be then bevel gear two-by-two between engagement.
10. a kind of machinery bionic hand, it is characterised in that: several modularization fingers, several modularization finger actuations mechanism, thumb
Module, thumb module include thumb mechanism (4), thumb driving unit, rotate integrally transmission mechanism；
The thumb mechanism (4) includes the remote finger joint of thumb (41), the remote joint of thumb (42), the nearly finger joint shell of thumb
(45), it is connect between the remote finger joint of the thumb (41) finger joint shell (45) close with thumb by the remote joint of thumb (42)；
The thumb mechanism (4) includes remote finger joint rotoflector transmission mechanism；The thumb driving unit passes through described remote
Finger joint rotoflector transmission mechanism connects the remote joint (42) of thumb, the rotation of the remote finger joint of thumb can be driven, so that thumb
Bending；
The thumb driving unit connects the nearly finger joint shell (45) of the thumb by the integral-rotation transmission mechanism, drives
Dynamic thumb mechanism (4) rotate integrally.
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| CN110340913A (en) * | 2018-04-08 | 2019-10-18 | 上海傲意信息科技有限公司 | A kind of machinery bionic hand and its thumb module |
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