CN209063111U - Bionic hand for simulating hand movement - Google Patents
Bionic hand for simulating hand movement Download PDFInfo
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- CN209063111U CN209063111U CN201821470566.0U CN201821470566U CN209063111U CN 209063111 U CN209063111 U CN 209063111U CN 201821470566 U CN201821470566 U CN 201821470566U CN 209063111 U CN209063111 U CN 209063111U
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- 239000011664 nicotinic acid Substances 0.000 title claims description 27
- 230000033001 locomotion Effects 0.000 title abstract description 20
- 210000003813 thumb Anatomy 0.000 claims abstract description 247
- 210000003811 finger Anatomy 0.000 claims abstract description 139
- 210000004932 little finger Anatomy 0.000 claims abstract description 35
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 235000014676 Phragmites communis Nutrition 0.000 claims description 46
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000004088 simulation Methods 0.000 claims description 10
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 210000005224 forefinger Anatomy 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000005452 bending Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 230000007659 motor function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The application discloses imitative bionical hand of hand motion, including forefinger, middle finger, third finger, little finger, thumb, palm, the palm includes the palm frame, palm shelf location forefinger, middle finger, third finger, little finger, thumb, the thumb includes: the upper end and the lower end of the thumb connecting shaft are respectively and rotatably connected with an upper thumb fingerboard and a lower thumb fingerboard, the thumb connecting shaft is used for fixing a first thumb belt wheel, an output shaft of a thumb motor reducer is used for fixing a first thumb bevel gear, the first thumb bevel gear is simultaneously meshed with a second thumb bevel gear and a third thumb bevel gear arranged at the upper end of a thumb duplex wheel, the second thumb bevel gear drives an upper thumb far-end plate to rotate, the second thumb belt wheel arranged at the lower end of the thumb duplex wheel is in belt transmission connection with the first thumb belt wheel, the thumb duplex wheel is movably sleeved on a lower thumb near-end pin, and the lower thumb near-end pin is rotatably connected with a lower thumb far-end plate and the lower thumb fingerboard to realize two-joint movement of a thumb, so that the.
Description
Technical field
The utility model relates to a kind of bionic hand more particularly to a kind of bionic hands for simulating hand exercise.
Background technique
With the continuous development of scientific and technological level, for bionic movement Functional Design increasingly by the favor of the people, hand is human body
One of most complicated organ can be realized complicated movement, and the current bionical prosthetic hand market demand is increasing, many hands
Physical disabilities are badly in need of being worn by the prosthetic hand of substitution hand function, or in production, to human injury, very big occasion also continues to imitate
The application of green hand.
The thumb of current bionic hand usually only has one degree of freedom, and the hand function with the mankind differs greatly, is not able to satisfy
The requirement of bionic hand function in prosthetic hand or production engineering, normal thumb have metacarpophalangeal joints, distal end articulations digitorum manus,
It is complete to pass through the complicated certain work of the complete journey of movement.
Some existing bionic hands are that only there are two fingers, and shape is very much like with clip with function, is only able to achieve and grabs
Function is held, and grasping is not secured enough, and very unsightly, if user installs, had a certain impact at heart to it.
There are also some bionic hands to be driven using bracing wire and connecting rod, and bracing wire is easy relaxation, or even fracture, and do not utilize makes for a long time
With connecting rod mechanism movement is not linear variability law, it is difficult to be controlled.
There are two freedom degrees for the technical solution thumb tool of the application, very close with Healthy People finger motion function；Thumb
Bend and stretch using the linkage design of two joints, and driving motor is arranged in the metacarpophalangeal section of thumb, saves space for palmar hand,
Control circuit can be accommodated；Bending and stretching using three joint linkage structures for four fingers (index finger, middle finger, ring finger and little finger), is realized imitative
Motor function of the motor function of green hand close to healthy manpower；Sliding bar mechanism uses the hinge connection of translation, without using ten thousand
It is connected to shaft coupling, improves the stability of transmission efficiency and transmission；The drive of four flexion and extensions referred to and the flexion and extension of thumb
Dynamic motor is arranged in finger, on the one hand convenient for safeguarding, replacement finger；Using gear mechanism, tape handler, sliding bar mechanism
Finger Union Movement is driven, finger movement rule is stablized, and movement is steady.
Summary of the invention
The purpose of this utility model is that: providing a kind of thumb tool, there are two freedom degrees, thumb, index finger, middle finger, unknown
Finger, little finger of toe have three degree of freedom, and above-mentioned finger is all made of the bionic hand of individual motor driving.
Purpose of the utility model is realized as follows: a kind of bionic hand for simulating hand exercise, including index finger 1, middle finger
2, nameless 3, little finger of toe 4, thumb 5, palm 11, before palm 11 is arranged in the index finger 1, middle finger 2, the third finger 3, little finger of toe 4
End, the thumb 5 include: thumb connecting shaft 501, thumb belt wheel 1, thumb double linked wheel 511, thumb bevel gear 1,
Thumb motor reducer 514, thumb motor rack 515, thumb bevel gear 2 516, rear, the front end of the thumb connecting shaft 501
It is rotatablely connected the lower end of metacarpophalangeal plate 507 under metacarpophalangeal plate 502, thumb on thumb, the fixed thumb belt wheel one of thumb connecting shaft 501 respectively
510, thumb motor reducer 514 is fixed on thumb on metacarpophalangeal plate 502 by thumb motor rack 515, thumb motor reducer
The fixed thumb bevel gear 1 of 514 output shaft, thumb bevel gear 1 simultaneously with thumb bevel gear 2 516, thumb duplex
The thumb bevel gear three for taking turns the setting of 511 rear ends engages, and the small end of the thumb bevel gear 2 516 is small with thumb bevel gear three
End is oppositely arranged, and the thumb bevel gear 2 516 is fixed on thumb on proximal end pin 503, the middle part of proximal end pin 503 on thumb
The lower end of distal plate 504 on thumb is fixed, proximal end pin 503 is rotatablely connected the upper end of metacarpophalangeal plate 502 on thumb on thumb, described
The thumb belt wheel two-way of 511 front end of thumb double linked wheel setting crosses thumb synchronous belt 509 and thumb belt wheel 1 forms V belt translation and connects
It connects, 511 loop of thumb double linked wheel is under thumb on proximal end pin 512, distal plate under proximal end pin 512 and thumb under thumb
The upper end rotation connection of metacarpophalangeal plate 507 under 506 lower end and thumb；
The thumb connecting shaft 501 is fixed on the upper center of palm 11.
The front and back side of metacarpophalangeal plate 502 and metacarpophalangeal plate 507 under thumb passes through a thumb metacarpophalangeal respectively and connects on the thumb
Fishplate bar 508 is fixedly connected, and distal plate 504 passes through a thumb with 506 front and back side of distal plate under thumb respectively on the thumb
Distal end connecting plate 505 is fixedly connected.
Palm 11 includes palm frame 1105, and the front end of the palm frame 1105 is disposed with index finger boss from top to bottom
1101, middle finger boss 1104, nameless boss 1103, little finger of toe boss 1102 are respectively used to installation index finger, middle finger, the third finger, small
Refer to, the intermediate upper end of palm frame 1105 is provided with thumb boss 1108, and the thumb mounting hole being arranged on thumb boss 1108 is fixed
Thumb connecting shaft 501.
The structure of index finger 1 is identical as middle finger 2, the third finger 3, the structure of little finger of toe 4, and index finger 1 includes index finger connecting shaft 101, band
Take turns one 110, finger motor reducer 111, bevel gear 1, bevel gear 2 115, double linked wheel 116, bevel gear 4 120, cone tooth
5 121 are taken turns, the upper and lower end of index finger connecting shaft 101 is rotatablely connected the rear end of metacarpophalangeal plate 102, lower metacarpophalangeal plate 109, index finger respectively
101 fixed pulley 1 of connecting shaft, finger motor reducer 111 are directly or indirectly fixed on metacarpophalangeal plate 102, finger electricity
The fixed bevel gear 1 of the output shaft of machine speed reducer 111, bevel gear 1 simultaneously with bevel gear 2 115,116 upper end of double linked wheel
The bevel gear three of setting engages；
The bevel gear 2 115 is fixed on proximal end pin 114, before upper 114 top of proximal end pin and upper metacarpophalangeal plate 102
End rotation connection, upper 114 middle part of proximal end pin are fixedly connected with the rear end of upper proximal end fingerboard 103, and 116 loop of double linked wheel exists
The upper end of lower proximal end pin 108, lower proximal end fingerboard 107 and lower hinge of the lower metacarpophalangeal plate 109 by lower proximal end pin 108, lower proximal end
Pin 108 and the lower metacarpophalangeal plate 109 of lower proximal end fingerboard 107 are rotatablely connected, the synchronous pulley two-way of 116 lower end of the double linked wheel setting
Synchronous belt 117 is crossed to connect with the formation V belt translation of belt wheel 1；
The bevel gear 1 is connect by slide bar transmission mechanism with rotating disc 118, and rotating disc 118 passes through drive rod
125 connect with drive plate Synchronous Transmission, and can rotate synchronously after realizing bevel gear 1 and 118 change in location of rotating disc；
The rear end of 126 fixed rotating shaft 127 of drive plate is rotatablely connected rotating shaft support 134, rotating shaft support 134 in the middle part of shaft 127
It is fixed on proximal end fingerboard 103, drive plate 126 is rotatably installed in rotating disc support 128, is rotatablely connected in the middle part of shaft 127
Rotating shaft support 134, rotating disc support 128, rotating shaft support 134 are fixed on proximal end fingerboard 103, and the front end of shaft 127 is fixed
Bevel gear 5 121, bevel gear 5 121 engage with bevel gear 4 120, and bevel gear 4 120 is fixed on distal pin 119, upper remote
The rear end of the fixed upper distal end fingerboard 104 of pin 119 is held, upper distal pin 119 is rotatablely connected the front end of upper proximal end fingerboard 103, described
Shaft 127 and drive plate 126 are coaxial, and rotating disc 118 and bevel gear 1 are coaxially disposed, and the front end of lower proximal end fingerboard 107 passes through
The rear end of lower distal pin 106 and lower distal end fingerboard 105 is hinged；The upper proximal end pin 114 and lower proximal end pin 108 is coaxial, lower remote
Hold pin 106 and upper distal pin 119 coaxial.
The index finger mounting hole being arranged on index finger boss 1101 fixes index finger connecting shaft 101, is arranged on middle finger boss 1104
Middle finger mounting hole fixes middle finger connecting shaft, and the nameless mounting hole being arranged on nameless boss 1103 fixes nameless connecting shaft,
The fixed little finger of toe connecting shaft of the little finger of toe mounting hole being arranged on little finger of toe boss 1102.
Such as Fig. 8, the structure of the slide bar transmission mechanism are as follows: slide bar transmission mechanism include rear slide bar 122, slide bar pin 123,
Preceding slide bar 124, drive rod 125, sliding sleeve 129 walk along the circumferencial direction of bevel gear 1 and are arranged there are three rear slide bar 122,
Slide bar 122 is horizontally disposed with along the longitudinal direction after three, before and after the sliding rod hole being arranged on slide bar 122 and bevel gear 1 after three
Sliding and rear slide bar are rotatablely connected along sliding rod hole, and each rear 122 front of slide bar passes through a slide bar pin 123 and one respectively
A preceding slide bar 124 is hinged, and slide bar pin 123 is placed in the vertical direction, and the preceding slide bar 124 of each of three preceding slide bars 124 is distinguished
Be slidably connected with a sliding sleeve 129, three sliding sleeves 129 are uniformly distributed along the circumferencial direction of rotating disc 118, three sliding sleeves 129 with turn
The sliding sleeving hole rotation connection that Moving plate 118 is axially arranged；
Each sliding sleeve 129 advances through the upside rear stretching end that a drive rod 125 is fixed after rotating disc 118, anterior extension end
It is rotatablely connected with the drive rod mounting hole being arranged on drive plate 126, drive plate 126 is identical as 118 structure of rotating disc, drive plate
126 with rotating disc 118 along the center of up and down direction away from being equal to the distance between 125 rear stretching end of drive rod and anterior extension end.
Slide bar transmission mechanism further includes reed 1, reed seat 1, reed 2 132, reed seat 2 133, each cunning
After set 129 backs through rotating disc 118, a reed seat 2 133 is fixed, the upper and lower side of reed seat 2 133 is fixed with reed
2 132, reed 2 132 has elasticity, and reed 2 132 is contacted with preceding slide bar 124, to prevent upper metacarpophalangeal plate 102 and upper proximal end
When fingerboard 103 is conllinear, the preceding independently sliding of slide bar 124, the position that the rear end of the bevel gear 1 is adapted with rear slide bar 122
It sets and fixes a reed seat 1, the two sides up and down of reed seat 1 are respectively arranged with reed 1, and reed 1 has
Flexible, reed 1 is in contact with rear slide bar 122, to prevent the rear independently sliding of slide bar 122.
Palm 11 further includes palm rear cover 1107, palm front cover 1109, the front side of the palm frame 1105, rear side difference
Fixed palm front cover 1109, palm rear cover 1107.
Two wrist joint connecting plates 1106 stretched out backward are arranged in 1105 rear end of palm frame.
Thumb bevel gear 1, thumb bevel gear 2 516, three number of teeth of thumb bevel gear are identical.
Compared with prior art, the utility model has the advantages that
1. there are two freedom degrees for thumb tool, very close with Healthy People finger motion function；
2. thumb is bent and stretched using two joint linkage designs, and driving motor is arranged in the metacarpophalangeal section of thumb, is hand
Metacarpus saves space, can accommodate control circuit；
3. bending and stretching using three joint linkage structures for four fingers (index finger, middle finger, ring finger and little finger), realizes bionic hand
Motor function of the motor function close to healthy manpower；
4. the driving motor of four flexion and extensions referred to and the flexion and extension of thumb is arranged in finger, on the one hand convenient for dimension
Shield, replacement finger；
5. driving finger Union Movement using gear mechanism, tape handler, sliding bar mechanism, finger movement rule is stablized,
Movement is steady.
Detailed description of the invention
Fig. 1 is the overall construction drawing one for simulating the bionic hand of hand exercise.
Fig. 2 is the overall construction drawing two for simulating the bionic hand of hand exercise.
Fig. 3 is the overall construction drawing one of thumb.
Fig. 4 is the overall construction drawing two of thumb.
Fig. 5 is the general structure schematic diagram of index finger.
Fig. 6 is the metacarpophalangeal plate connection driving device structure schematic diagram of index finger.
Fig. 7 is the proximal end fingerboard and metacarpophalangeal board connecting structure schematic diagram of index finger.
Fig. 8 is that index finger proximal end fingerboard and metacarpophalangeal plate are drivingly connected structural schematic diagram one.
Fig. 9 is that proximal end fingerboard and metacarpophalangeal plate are drivingly connected structural schematic diagram two.
Figure 10 is that proximal end fingerboard and distal end fingerboard are drivingly connected structural schematic diagram one.
Figure 11 is that proximal end fingerboard and distal end fingerboard are drivingly connected structural schematic diagram two.
Figure 12 is that defensive connecting board structure schematic diagram is provided on fingerboard.
Figure 13 is the structural schematic diagram that palm rear cover, palm front cover are fixed on palm frame.
Figure 14 is drive rod structural schematic diagram.
Appended drawing reference: 11- palm, 22- wrist joint, 33- forearm, 1- index finger, 2- middle finger, the 3- third finger, 4- little finger of toe, 5- thumb
Distal end fingerboard under finger, 101- index finger connecting shaft, the upper metacarpophalangeal plate of 102-, the upper proximal end fingerboard of 103-, the upper distal end fingerboard of 104-, 105-,
Metacarpophalangeal plate, 110- belt wheel one, 111- index finger are electric under proximal end pin, 109- under proximal end fingerboard, 108- under distal pin, 107- under 106-
The upper proximal end pin of machine, 112- index finger motor rack, 113- bevel gear one, 114-, 115- bevel gear two, 116- double linked wheel, 117- are synchronous
Slide bar after band, 118- rotating disc, the upper distal pin of 119-, 120- bevel gear four, 121- bevel gear five, 122-, 123- slide bar pin,
Slide bar before 124-, 125- drive rod, 126- drive plate, 127- shaft, the support of 128- rotating disc, 129- sliding sleeve, 130- reed one,
131- reed seat one, 132- reed two, 133- reed seat two, 134- rotating shaft support, 137- metacarpophalangeal connecting plate, the connection of the proximal end 138-
Plate, the distal end 139- connecting plate, 1101- index finger boss, 1102- little finger of toe boss, 1103- third finger boss, 1104- middle finger boss,
1105- palm frame, 1106- wrist joint connecting plate, 1107- palm rear cover, 1108- thumb boss, 1109- palm front cover, 501-
Metacarpophalangeal plate in thumb connecting shaft, 502- thumb, proximal end pin on 503- thumb, distal plate, 505- thumb distal end connect on 504- thumb
Metacarpophalangeal plate, 508- thumb metacarpophalangeal connecting plate, 509- thumb synchronous belt, 510- under distal plate, 507- thumb under fishplate bar, 506- thumb
Proximal end pin, 513- thumb bevel gear one, 514- thumb decelerating through motor under thumb belt wheel one, 511- thumb double linked wheel, 512- thumb
Machine, 515- thumb motor rack, 516- thumb bevel gear two.
Specific embodiment
In conjunction with Fig. 1~14, a kind of bionic hand of simulation hand exercise of the utility model, including it is index finger 1, middle finger 2, unknown
Referring to 3, little finger of toe 4, thumb 5, palm 11, the index finger 1, middle finger 2, the third finger 3, little finger of toe 4, thumb 5 are arranged on palm 11, and
And index finger 1, middle finger 2, the third finger 3, little finger of toe 4, thumb 5 and palm 11 junction can be swung along palm 11, the application with
Index finger 1 is respectively defined as front and rear direction far from carpal direction far from volar direction, forearm, locating for index finger 1, little finger of toe 4
Direction be respectively defined as upper and lower direction, with the flexible direction of index finger 1 be defined as left side, can be unfolded with index finger 1
Towards right side is defined as, to describe the application, due to index finger 1, middle finger 2, nameless 3, the structure having the same of little finger of toe 4, originally
Application is replaced and is shown the structure of middle finger 2, the third finger 3, little finger of toe 4 with the structure description of index finger 1, and the index finger 1 includes: food
Refer to connecting shaft 101, upper metacarpophalangeal plate 102, upper proximal end fingerboard 103, upper distal end fingerboard 104, lower distal end fingerboard 105, lower distal pin
106, lower proximal end fingerboard 107, lower proximal end pin 108, lower metacarpophalangeal plate 109, belt wheel 1, index finger motor reducer 111, index finger electricity
Rack 112, bevel gear 1, upper proximal end pin 114, bevel gear 2 115, double linked wheel 116, synchronous belt 117, rotating disc 118, on
Distal pin 119, bevel gear 5 121, rear slide bar 122, slide bar pin 123, preceding slide bar 124, drive rod 125, passes bevel gear 4 120
Moving plate 126, shaft 127, rotating disc support 128, sliding sleeve 129, reed 1, reed seat 1, reed 2 132, reed seat
2 133, rotating shaft support 134, metacarpophalangeal connecting plate 137, proximal end connecting plate 138, distal end connecting plate 139, the upper metacarpophalangeal plate
102, the rear end of lower metacarpophalangeal plate 109 is rotatablely connected the upper and lower end of index finger connecting shaft 101 respectively, and the lower part of index finger connecting shaft 101 is solid
Determine belt wheel 1, index finger motor reducer 111 is fixed on index finger motor rack 112, and index finger motor rack 112 is fixed on metacarpophalangeal
On plate 102, the fixed bevel gear 1 of the output shaft of index finger motor reducer 111, bevel gear 1 simultaneously with bevel gear two
115, the bevel gear three of 116 upper end of double linked wheel setting engages, and the small end of bevel gear 2 115 is opposite with the small end of bevel gear three to be set
It sets.
The bevel gear 2 115 is fixed on the lower end of proximal end pin 114, upper 114 top of proximal end pin and upper metacarpophalangeal plate 102
Front end rotation connection, 114 middle part of upper proximal end pin is fixedly connected with the rear end of upper proximal end fingerboard 103, the work of double linked wheel 116
The lower hinge in the upper end of lower proximal end pin 108, lower proximal end fingerboard 107 and lower metacarpophalangeal plate 109 by lower proximal end pin 108 is covered, under
Proximal end pin 108 and the lower metacarpophalangeal plate 109 of lower proximal end fingerboard 107 are rotatablely connected, the synchronous pulley of 116 lower end of the double linked wheel setting
Two, which form V belt translation with belt wheel 1 by synchronous belt 117, connect.
Rear slide bar 122 there are three being arranged is walked along the circumferencial direction of bevel gear 1, slide bar 122 is along front and back after three
Direction is horizontally disposed, the sliding rod hole being arranged on slide bar 122 and bevel gear 1 after three slide back and forth and rear slide bar along
Sliding rod hole rotation connection, each rear 122 front of slide bar passes through a slide bar pin 123 respectively and a preceding slide bar 124 is hinged, slide bar
Pin 123 is placed in the vertical direction, and the preceding slide bar 124 of each of three preceding slide bars 124 connects with a sliding of sliding sleeve 129 respectively
It connects, three sliding sleeves 129 are uniformly distributed along the circumferencial direction of rotating disc 118, the cunning that three sliding sleeves 129 and rotating disc 118 are axially arranged
Sets of holes rotation connection, after each sliding sleeve 129 backs through rotating disc 118, fixes a reed seat 2 133, reed seat 2 133
Upper and lower side be fixed with reed 2 132, reed 2 132 has elasticity, and reed 2 132 is contacted with preceding slide bar 124, before realization
Frictional force is provided when slide bar slides back and forth, when preventing metacarpophalangeal plate 102 conllinear with upper proximal end fingerboard 103, preceding slide bar 124 is independently sliding
It is dynamic, the transmission effect that bevel gear 1 arrives rotating disc 118 is influenced, each sliding sleeve 129 advances through the inner hole after rotating disc 118
The upside rear stretching end an of drive rod 125 is fixed, 125 upper end of drive rod is provided with the rear stretching end stretched out backward, passes
125 lower end of lever is provided with the anterior extension end forward extended out, and the drive rod mounting hole rotation being arranged on anterior extension end and drive plate 126 connects
It connects, drive plate 126 is identical as 118 mechanism of rotating disc, and drive plate 126 and rotating disc 118 are along the center of up and down direction away from being equal to
The distance between 125 rear stretching end of drive rod and anterior extension end.To realize that sliding sleeve 129 is only translated relative to upper proximal end fingerboard 103
Movement, does not rotate, and slide bar 124 only does translational motion relative to upper proximal end fingerboard 103 before making, and does not rotate, slide bar pin
123 remain that vertical direction is arranged, and realize that preceding slide bar 124 and rear slide bar 122 can be along horizontal direction relative rotations and same
When transmit power, to realize that the rotation of bevel gear 1 is moved by transmission belt turn between rear slide bar 122 and preceding slide bar 124
Disk 118 rotates synchronously, and the external cylindrical surface of the rotating disc 118 is mounted in the inner hole of rotating disc support 128, rotating disc support
128 are fixed on proximal end fingerboard 103, are rotatably installed in the inner hole of 134 lower end of rotating shaft support in the middle part of the shaft 127,
134 upper end of rotating shaft support is fixed on proximal end fingerboard 103.
The structure that the preceding slide bar 124 and sliding sleeve 129 is slidably connected are as follows: 129 inner hole of sliding sleeve is rectangle, advancing slip
The outer surface of bar 124 is rectangle, and outside rectangular surface and the 129 rectangle inner hole of sliding sleeve of slide bar 124 are slidably connected.
A reed seat 1 is fixed in the position that the rear end of the bevel gear 1 and rear slide bar 122 are adapted,
The two sides up and down of reed seat 1 are respectively arranged with reed 1, and reed 1 has elasticity, reed 1 and rear slide bar
122 are in contact, and when preventing metacarpophalangeal plate 102 conllinear with upper proximal end fingerboard 103, i.e., when index finger stretches, prevent rear slide bar 122 autonomous
Sliding influences the transmission effect that bevel gear 1 arrives rotating disc 118, and since reed 1 has elasticity, rear slide bar 122 is being passed
Frictional force during dynamic is small, such as 1 N, without back-and-forth motion of the slide bar 122 in transmission process after not influencing.
The rotating disc 118 and bevel gear 1 is coaxially disposed.
The rear end of 126 fixed rotating shaft 127 of drive plate is rotatablely connected rotating shaft support 134, shaft in the middle part of shaft 127
Support 134 is fixed on proximal end fingerboard 103, the fixed bevel gear 5 121 in the front end of shaft 127, bevel gear 5 121 and bevel gear
4 120 engagements, bevel gear 4 120 are fixed on the lower end of distal pin 119, fixed upper distal end fingerboard 104 in the middle part of upper distal pin 119
Rear end, the upper end of upper distal pin 119 is rotatablely connected the front end of upper proximal end fingerboard 103, the shaft 127 and drive plate 126
Coaxial arrangement.
The front end of the lower proximal end fingerboard 107 is hinged by the rear end of lower distal pin 106 and lower distal end fingerboard 105.
Upper metacarpophalangeal plate 102 respectively passes through a metacarpophalangeal connecting plate 137 with the left and right side of lower metacarpophalangeal plate 109 and is fixedly connected, upper close
End fingerboard 103 respectively passes through a proximal end connecting plate 138 with the left and right side of lower proximal end fingerboard 107 and is fixedly connected, upper distal end fingerboard
104, which respectively pass through a distal end connecting plate 139 with the left and right side of lower distal end fingerboard 105, is fixedly connected.
The upper proximal end pin 114 and lower proximal end pin 108 is coaxial, and lower distal pin 106 and upper distal pin 119 are coaxial.
Index finger 1, middle finger 2, the third finger 3, little finger of toe 4 are horizontally disposed along front-rear direction, and thumb 5 is arranged along up and down direction.
The thumb 5 includes: thumb connecting shaft 501, metacarpophalangeal plate 502 on thumb, proximal end pin 503 on thumb, on thumb
Metacarpophalangeal plate 507, thumb metacarpophalangeal connecting plate under distal plate 506, thumb under distal plate 504, thumb distal end connecting plate 505, thumb
508, proximal end pin 512, thumb bevel gear one under thumb synchronous belt 509, thumb belt wheel 1, thumb double linked wheel 511, thumb
513, thumb motor reducer 514, thumb motor rack 515, thumb bevel gear 2 516, the thumb connecting shaft 501 it is rear,
Front end is rotatablely connected the lower end of metacarpophalangeal plate 507 under metacarpophalangeal plate 502, thumb on thumb respectively, and the front of thumb connecting shaft 501 is fixed
Thumb belt wheel 1, thumb motor reducer 514 are fixed on thumb motor rack 515, and thumb motor rack 515 is fixed on thumb
On upper metacarpophalangeal plate 502, the fixed thumb bevel gear 1 of the output shaft of thumb motor reducer 514, thumb bevel gear 1 is together
When with thumb bevel gear 2 516,511 rear end of thumb double linked wheel be arranged thumb bevel gear three engage, the thumb bevel gear
2 516 small end and the small end of thumb bevel gear three are oppositely arranged, and the thumb bevel gear 2 516 is fixed on proximal end on thumb
The front end of pin 503, on thumb on the fixed thumb in the middle part of proximal end pin 503 distal plate 504 lower end, proximal end pin 503 on thumb
Rear end thereof connects the upper end of metacarpophalangeal plate 502 on thumb, the thumb belt wheel two-way mistake of 511 front end of the thumb double linked wheel setting
Thumb synchronous belt 509 forms V belt translation with thumb belt wheel 1 and connect, and 511 loop of thumb double linked wheel is close under thumb
The rear end of pin 512 is held, the upper end that the lower end of distal plate 506 passes through metacarpophalangeal plate 507 under proximal end pin 512 under thumb and thumb under thumb
Hingedly, proximal end pin 512 and the upper end of metacarpophalangeal plate 507 under the lower end of distal plate 506 under thumb and thumb are rotatablely connected under thumb.
The front and back side of metacarpophalangeal plate 502 and metacarpophalangeal plate 507 under thumb passes through a thumb metacarpophalangeal respectively and connects on the thumb
Fishplate bar 508 is fixedly connected, and distal plate 504 passes through a thumb with 506 front and back side of distal plate under thumb respectively on the thumb
Distal end connecting plate 505 is fixedly connected.
The palm 11 includes palm frame 1105, palm rear cover 1107, palm front cover 1109, the palm frame 1105
Front end be disposed with index finger boss 1101, middle finger boss 1104, nameless boss 1103, little finger of toe boss from top to bottom
1102, the fixed index finger connecting shaft 101 of the index finger mounting hole being arranged on index finger boss 1101, the middle finger being arranged on middle finger boss 1104
Mounting hole fixes middle finger connecting shaft, the fixed nameless connecting shaft of the nameless mounting hole being arranged on nameless boss 1103, little finger of toe
The fixed little finger of toe connecting shaft of the little finger of toe mounting hole being arranged on boss 1102, the intermediate upper end of the palm frame 1105 is provided with thumb
Boss 1108, the fixed thumb connecting shaft 501 of the thumb mounting hole being arranged on thumb boss 1108.
The front side of the palm frame 1105, rear side fix palm front cover 1109, palm rear cover 1107 respectively.
Two wrist joint connecting plates 1106 stretched out backward are arranged in 1105 rear end of palm frame.
Above-mentioned motor is connect with control system in the application, and those skilled in the art can be realized to above-mentioned each motor
Control driving, can be realized four fingers (index finger, middle finger, ring finger and little finger) bend and stretch control and thumb bend and stretch, wrist joint
The control of swing.
When control system control index finger bending, the electrical power in index finger motor reducer 111, motor driven cone are controlled
Gear 1 rotates, and bevel gear 2 115 rotates, and proximal end fingerboard 103 rotates in drive, and bevel gear 1 drives double linked wheel simultaneously
116 rotations form V belt translation with belt wheel 1 by synchronous belt 117 and connect, and V belt translation can be substituted with chain conveyer, due to index finger
Connecting shaft 101 is fixed on palm frame 1105, and lower metacarpophalangeal plate 109 is swung relative to index finger connecting shaft 101, due to bevel gear two
115 and 116 rotation direction of double linked wheel on the contrary, or more proximal end fingerboard 103 it is identical as lower metacarpophalangeal 109 swaying directions of plate, due to cone
Gear 1 rotates, and slide bar 124 moves before rear slide bar 122 is driven by slide bar pin 123, drives 118 rotation process of rotating disc
In, since metacarpophalangeal plate 102 swings relative to upper proximal end fingerboard 103, is bent, rear slide bar 122 and preceding slide bar on upper proximal end fingerboard 103
124 are bent along slide bar pin 123, are driven between drive plate 126 and rotating disc 118 using drive rod 125, after drive rod 125
The fixed sliding sleeve 129 in end is stretched, sliding sleeve 129 is rotated relative to rotating disc 118, is only translatable relative to upper proximal end fingerboard 103, slide bar pin
123 are placed in the vertical direction always, and rear slide bar 122 can be bent with preceding slide bar 124 along slide bar pin 123 always, and on
When metacarpophalangeal plate 102 is swung relative to upper proximal end fingerboard 103, rear slide bar 122 and preceding slide bar 124 towards upper metacarpophalangeal plate 102 with it is upper close
When fingerboard 103 being held to swing the movement of bending position direction, side, front are slided respectively backward for rear slide bar 122, preceding slide bar 124, adapt to cone
Gear 1 and rotating disc 118 are close to each other, the distance between the change in location that becomes smaller, rotating disc driven by drive rod 125
Drive plate 126 rotates, and drive plate 126 drives shaft 127 to rotate, and band dynamic bevel gear 5 121 rotates, and bevel gear 4 120 rotates, cone
Gear 4 120 drives upper distal end fingerboard 104 to rotate by upper distal pin 119, metacarpophalangeal plate 102 in realization, upper proximal end fingerboard 103,
Upper distal end fingerboard 104 synchronizes swing in the same direction, realizes that the four of bionic movement refers to (index finger, middle finger, ring finger and little finger) movement.
When control system control thumb bending, the electrical power in thumb motor reducer 514, thumb bevel gear are controlled
One 513 rotations, thumb bevel gear 2 516 and thumb double linked wheel 511 rotate, and rotation direction is on the contrary, thumb bevel gear 2 516 drives
Distal plate 504 is swung on dynamic thumb, and thumb belt wheel 1 is fixed in thumb connecting shaft 501, and thumb double linked wheel 511 rotates, and is led to
The V belt translation for crossing thumb synchronous belt 509 swings metacarpophalangeal plate 507 under thumb along thumb connecting shaft 501, and metacarpophalangeal plate under thumb
507 is identical as 504 swaying direction of distal plate on thumb, realizes the bionic movement of thumb 5.
Claims (10)
1. a kind of bionic hand for simulating hand exercise, including index finger (1), middle finger (2), nameless (3), little finger of toe (4), thumb (5),
Palm (11), the index finger (1), middle finger (2), nameless (3), little finger of toe (4) are arranged in the front end of palm (11), and feature exists
In: the thumb (5) includes: thumb connecting shaft (501), thumb belt wheel one (510), thumb double linked wheel (511), thumb cone tooth
One (513), thumb motor reducer (514), thumb motor rack (515), thumb bevel gear two (516) are taken turns, the thumb connects
Rear, the front end of spindle (501) are rotatablely connected the lower end of metacarpophalangeal plate (507) under metacarpophalangeal plate (502), thumb on thumb, thumb respectively
Connecting shaft (501) is fixed thumb belt wheel one (510), and thumb motor reducer (514) is fixed on thumb by thumb motor rack (515)
On finger on metacarpophalangeal plate (502), the output shaft of thumb motor reducer (514) is fixed thumb bevel gear one (513), thumb bevel gear
The thumb bevel gear three that one (513) are arranged with thumb bevel gear two (516), thumb double linked wheel (511) rear end simultaneously engages, described
The small end of thumb bevel gear two (516) and the small end of thumb bevel gear three be oppositely arranged, the thumb bevel gear two (516)
It being fixed on thumb on proximal end pin (503), the lower end of distal plate (504) on thumb is fixed at the middle part of proximal end pin (503) on thumb,
Proximal end pin (503) is rotatablely connected the upper end of metacarpophalangeal plate (502) on thumb on thumb, and described thumb double linked wheel (511) front end is set
The thumb belt wheel two-way set is crossed thumb synchronous belt (509) and is connect with thumb belt wheel one (510) formation V belt translation, and the thumb is double
Connection wheel (511) loop is under thumb on proximal end pin (512), and the lower end of distal plate (506) under (512) and thumb is sold in proximal end under thumb
With the upper end rotation connection of metacarpophalangeal plate (507) under thumb；
The thumb connecting shaft (501) is fixed on the upper center of palm (11).
2. the bionic hand of simulation hand exercise according to claim 1, it is characterised in that: metacarpophalangeal plate on the thumb
(502) pass through a thumb metacarpophalangeal connecting plate (508) respectively with the front and back side of metacarpophalangeal plate (507) under thumb to be fixedly connected, it is described
Thumb on to pass through a thumb distal end connecting plate (505) respectively solid for side before and after distal plate (506) under distal plate (504) and thumb
Fixed connection.
3. the bionic hand of simulation hand exercise according to claim 2, it is characterised in that: palm (11) includes palm frame
(1105), the front end of the palm frame (1105) is disposed with index finger boss (1101), middle finger boss from top to bottom
(1104), nameless boss (1103), little finger of toe boss (1102) are respectively used to installation index finger, middle finger, ring finger and little finger, palm
The intermediate upper end of frame (1105) is provided with thumb boss (1108), the fixed thumb of the thumb mounting hole being arranged on thumb boss (1108)
Refer to connecting shaft (501).
4. the bionic hand of simulation hand exercise according to claim 3, it is characterised in that: the structure and middle finger of index finger (1)
(2), nameless (3), the structure of little finger of toe (4) are identical, and index finger (1) includes index finger connecting shaft (101), belt wheel one (110), finger electricity
Machine speed reducer (111), bevel gear one (113), bevel gear two (115), double linked wheel (116), bevel gear four (120), bevel gear five
(121), the upper and lower end of index finger connecting shaft (101) is rotatablely connected the rear end of metacarpophalangeal plate (102), lower metacarpophalangeal plate (109) respectively,
Index finger connecting shaft (101) fixed pulley one (110), finger motor reducer (111) are directly or indirectly fixed on metacarpophalangeal plate
(102) on, the output shaft of finger motor reducer (111) is fixed bevel gear one (113), bevel gear one (113) simultaneously with cone tooth
Take turns two (115), the bevel gear three of double linked wheel (116) upper end setting engages；
The bevel gear two (115) is fixed on proximal end pin (114), upper proximal end pin (114) top and upper metacarpophalangeal plate (102)
Front end rotation connection, is fixedly connected with the rear end of upper proximal end fingerboard (103) in the middle part of upper proximal end pin (114), the double linked wheel
(116) loop sells the upper end of (108) in lower proximal end, and lower proximal end fingerboard (107) is sold with lower metacarpophalangeal plate (109) by lower proximal end
(108) lower hinge, lower proximal end pin (108) are rotatablely connected with metacarpophalangeal plate (109) under lower proximal end fingerboard (107), and described is double
The synchronous pulley two of connection wheel (116) lower end setting forms V belt translation with belt wheel one (110) by synchronous belt (117) and connect；
The bevel gear one (113) is connect by slide bar transmission mechanism with rotating disc (118), and rotating disc (118) passes through transmission
Bar (125) is connect with drive plate Synchronous Transmission, and realizing can be same after bevel gear one (113) and rotating disc (118) change in location
Step rotation；
The rear end of drive plate (126) fixed rotating shaft (127), shaft (127) middle part are rotatablely connected rotating shaft support (134), shaft branch
Support (134) is fixed on proximal end fingerboard (103), and drive plate (126) is rotatably installed in rotating disc support (128), shaft
(127) middle part is rotatablely connected rotating shaft support (134), and rotating disc support (128), rotating shaft support (134) are fixed on proximal end fingerboard
(103) on, the front end of shaft (127) is fixed bevel gear five (121), and bevel gear five (121) engages with bevel gear four (120), bores
Gear four (120) is fixed on distal pin (119), the rear end of distal end fingerboard (104) in upper distal pin (119) fixation, upper remote
The front end of proximal end fingerboard (103), the shaft (127) and drive plate (126) coaxially, rotate in pin (119) rotation connection of end
Disk (118) and bevel gear one (113) are coaxially disposed, and the front end of lower proximal end fingerboard (107) passes through lower distal pin (106) and lower distal end
The rear end of fingerboard (105) is hinged；The described upper proximal end pin (114) and lower proximal end pin (108) coaxially, lower distal pin (106) with it is upper
Distal pin (119) is coaxial.
5. the bionic hand of simulation hand exercise according to claim 4, it is characterised in that: index finger boss is arranged on (1101)
Index finger mounting hole it is fixed index finger connecting shaft (101), the fixed middle finger connection of the middle finger mounting hole being arranged on middle finger boss (1104)
Axis, the fixed nameless connecting shaft of the nameless mounting hole being arranged on nameless boss (1103), little finger of toe boss are arranged on (1102)
The fixed little finger of toe connecting shaft of little finger of toe mounting hole.
6. the bionic hand of simulation hand exercise according to claim 5, it is characterised in that: the slide bar transmission mechanism
Structure are as follows: slide bar transmission mechanism includes rear slide bar (122), slide bar pin (123), preceding slide bar (124), drive rod (125), sliding sleeve
(129), it is walked along the circumferencial direction of bevel gear one (113) there are three being arranged rear slide bar (122), slide bar (122) edge after three
Front-rear direction is horizontally disposed, and the sliding rod hole being arranged on slide bar (122) and bevel gear one (113) after three slides back and forth, Yi Jihou
Slide bar is rotatablely connected along sliding rod hole, and each rear slide bar (122) front passes through a slide bar pin (123) and a preceding slide bar respectively
(124) hingedly, slide bar pin (123) is placed in the vertical direction, and each of three preceding slide bars (124) preceding slide bar (124) is respectively
It is slidably connected with a sliding sleeve (129), three sliding sleeves (129) are uniformly distributed along the circumferencial direction of rotating disc (118), three sliding sleeves
(129) sliding sleeving hole being axially arranged with rotating disc (118) is rotatablely connected；
Each sliding sleeve (129) advances through the upside rear stretching end that a drive rod (125) is fixed after rotating disc (118), transmission
The drive rod mounting hole being arranged on the anterior extension end of bar (125) and drive plate (126) is rotatablely connected, drive plate (126) and rotating disc
(118) structure is identical, and drive plate (126) is extended back along the center of up and down direction away from drive rod (125) are equal to rotating disc (118)
The distance between end and anterior extension end.
7. the bionic hand of simulation hand exercise according to claim 6, it is characterised in that: slide bar transmission mechanism further includes spring
Piece one (130), reed seat one (131), reed two (132), reed seat two (133), each sliding sleeve (129) back through rotating disc
(118) after, a reed seat two (133) is fixed, the upper and lower side of reed seat two (133) is fixed with reed two (132), reed
Two (132) have elasticity, and reed two (132) is contacted with preceding slide bar (124), to prevent upper metacarpophalangeal plate (102) from referring to upper proximal end
When plate (103) is conllinear, preceding slide bar (124) is independently slided, the rear end of the bevel gear one (113) and rear slide bar (122) Xiang Shi
A reed seat one (131) is fixed in the position answered, and the two sides up and down of reed seat one (131) are respectively arranged with reed one (130),
Reed one (130) has elasticity, and reed one (130) is in contact with rear slide bar (122), to prevent rear slide bar (122) independently sliding
It is dynamic.
8. according to the bionic hand of the described in any item simulation hand exercises of claim 3-7, it is characterised in that: palm (11) also wraps
Palm rear cover (1107), palm front cover (1109) are included, the front side of the palm frame (1105), rear side fix palm front cover respectively
(1109), palm rear cover (1107).
9. according to the bionic hand of the described in any item simulation hand exercises of claim 3-7, it is characterised in that: the palm frame
(1105) two wrist joint connecting plates (1106) stretched out backward are arranged in rear end.
10. the bionic hand of simulation hand exercise according to claim 1-7, it is characterised in that: thumb bevel gear
One (513), thumb bevel gear two (516), three number of teeth of thumb bevel gear are identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821470566.0U CN209063111U (en) | 2018-09-10 | 2018-09-10 | Bionic hand for simulating hand movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821470566.0U CN209063111U (en) | 2018-09-10 | 2018-09-10 | Bionic hand for simulating hand movement |
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| CN209063111U true CN209063111U (en) | 2019-07-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
| CN108972605B (en) * | 2018-09-10 | 2024-04-16 | 河南翔宇医疗设备股份有限公司 | Bionic hand simulating hand movement |
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