CN219485698U - Driving device of bionic hand - Google Patents
Driving device of bionic hand Download PDFInfo
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- CN219485698U CN219485698U CN202320170168.1U CN202320170168U CN219485698U CN 219485698 U CN219485698 U CN 219485698U CN 202320170168 U CN202320170168 U CN 202320170168U CN 219485698 U CN219485698 U CN 219485698U
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Abstract
The utility model discloses a driving device of a bionic hand, which is applied to the development field of the bionic hand and comprises a connecting rod structure arranged in a palm and a driving wire connected with the connecting rod structure, wherein the driving wire comprises a main driving wire and a finger driving wire, the finger driving wire comprises a thumb driving wire, an index finger driving wire, a middle finger driving wire, a ring finger driving wire and a little finger driving wire, the connecting rod structure comprises a main connecting rod and auxiliary connecting rods symmetrically arranged at two sides of the main connecting rod and movably connected with the main connecting rod, a main shaft is arranged on the main connecting rod, the main driving wire is connected with the thumb driving wire through the main shaft, and the auxiliary connecting rods are respectively connected with the index finger driving wire, the middle finger driving wire, the ring finger driving wire and the little finger driving wire.
Description
Technical Field
The utility model relates to the field of development of bionic hands, in particular to a driving device of a bionic hand.
Background
At present, three driving modes of connecting rod driving, gear driving and line driving are adopted by the bionic hand, the connecting rod driving and the gear driving are rigid, the knocking and knocking process is easy to damage, the weight is large, the structure is complex, the mechanical abrasion is large, and the failure rate is high. Compared with the two, the driving mode of the wire transmission has the advantages of simple structure, convenient installation, large flexibility and light weight. Therefore, the bionic hand in the wire drive mode is more popular with users.
The utility model patent of the applicant application number CN202022239251.9 discloses a bionic finger and a bionic hand thereof, which belong to a linear transmission structure, and the bionic finger is deeply favored by users after being used. However, the driving device of the self-adaptive bionic hand disclosed in the patent application number CN202011151448.5 belongs to the driving of the connecting rod, is not suitable for driving the bionic finger and the bionic hand of the wire transmission structure, and is not suitable for driving the bionic finger and the bionic hand of the wire transmission structure in the market. For convenience of driving, it is necessary to develop a driving structure matched with the patent of CN 202022239251.9.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a driving device of a bionic hand, which has the advantages of simple structure, convenient driving, light weight and good self-adaptability, can well finish the accurate grasping and unfolding of the bionic hand, and has good adaptability with the bionic finger and the bionic hand disclosed in the CN202022239251.9 patent.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the utility model comprises a connecting rod structure arranged in a palm and a driving wire connected with the connecting rod structure, wherein the driving wire comprises a main driving wire and a finger driving wire, the finger driving wire comprises a thumb driving wire, an index finger driving wire, a middle finger driving wire, a ring finger driving wire and a little finger driving wire, the connecting rod structure comprises a main connecting rod and auxiliary connecting rods symmetrically arranged on two sides of the main connecting rod and movably connected with the main connecting rod, the main connecting rod is provided with a main shaft, the main driving wire is connected with the thumb driving wire through the main shaft, and the auxiliary connecting rods are respectively connected with the index finger driving wire, the middle finger driving wire, the ring finger driving wire and the little finger driving wire.
Further, the main shaft is provided with a pulley, and the main driving wire bypasses the pulley through a wire hole and is connected with the thumb driving wire.
Further, the main driving wire is connected with a connecting roller for driving the thumb through a guide wheel arranged in the palm, and the connecting roller is connected with the thumb driving wire.
Further, the main connecting rod is connected with the auxiliary connecting rod through a connecting shaft, and wire passing rollers are symmetrically arranged on the auxiliary connecting rod.
Further, the wire passing roller comprises a first wire passing roller, a second wire passing roller, a third wire passing roller and a fourth wire passing roller, wherein the first wire passing roller is connected with an index finger driving wire, the second wire passing roller is connected with a middle finger driving wire, the third wire passing roller is connected with a ring finger driving wire, and the fourth wire passing roller is connected with a little finger driving wire.
Further, a threading hole is formed in the threading roller, and a threading track is arranged on the auxiliary connecting rod corresponding to the threading hole.
Further, the tail end of the finger driving line is provided with a pressing block, and a spring is arranged below the pressing block.
Further, the spring is clamped between channels through which the finger drive wires pass.
Due to the adoption of the technical scheme, the beneficial effects obtained by the utility model are as follows:
the bionic finger driving device is simple in structure, novel in design, suitable for the bionic finger of the driving device and the bionic hand made of the bionic finger, light in weight, compact in connection among all knuckles of the finger, flexible in action, small in friction force, free in stretching, good in flexibility of driving wires, good in self-adaptation effect of the finger and the bionic hand, good in flexibility of finger movement, high in elasticity, high in adaptability of the bionic hand and the driving device, capable of realizing accurate grasping according to different shapes of objects, greatly improved in self-adaptation capability of all fingers, and capable of smoothly realizing accurate grasping of abnormal objects. The use is convenient, and the user is deeply favored.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic top view of the connecting rod structure of the present utility model;
FIG. 3 is a schematic view of the bottom view of the connecting rod structure of the present utility model;
FIG. 4 is a schematic side elevational view of the connecting rod structure of the present utility model;
fig. 5 is a schematic view of the internal cross-sectional structure of the distal knuckle of a finger of the present utility model.
Wherein, 1, a wire passing roller; 1-1, a first wire passing roller; 1-2, a second wire passing rod; 1-3, a third wire passing roller; 1-4, a fourth wire passing roller; 2. a secondary connecting rod; 3. a connecting shaft; 4. a main connecting rod; 5. a main shaft; 6. a main driving line; 7. a guide wheel; 8. a connecting roller; 9. palm; 10. a pulley; 11. A wire through hole; 12. a wire passing track; 13. briquetting; 14. a spring; 15. a threading hole; 16. a finger driving line; 16-1, thumb drive line; 16-2, index finger drive line; 16-3, middle finger drive line; 16-4, a ring finger drive line; 16-5, little finger drive line; 17. a channel.
Description of the embodiments
The utility model is further illustrated by the following examples:
the driving device of the bionic hand comprises a connecting rod structure arranged in a palm 9 and a driving wire connected with the connecting rod structure, wherein the driving wire drives five fingers of the bionic hand to jointly act through the connecting rod structure to finish the grasping and stretching of the bionic hand, as shown in fig. 1-4.
As shown in fig. 1, the driving wires include a main driving wire 6 and a finger driving wire 16, the finger driving wire 16 includes a thumb driving wire 16-1, an index finger driving wire 16-2, a middle finger driving wire 16-3, a ring finger driving wire 16-4 and a little finger driving wire 16-5, one end of the main driving wire 6 is connected with a power device, the other end is connected with the thumb driving wire 16-1 through a connecting rod structure, and the power device can be a motor or an elbow of a user as long as the main driving wire 6 can be driven to act. The main driving line 6 can complete the action of the finger driving line 16, so that the simultaneous actions of five fingers are realized, and the grasping and stretching actions of the bionic hand are realized.
The connecting rod structure comprises a main connecting rod 4 and auxiliary connecting rods 2 symmetrically arranged on two sides of the main connecting rod 4 and movably connected with the main connecting rod 4, a main shaft 5 is arranged on the main connecting rod 4, a main driving line 6 is connected with a thumb driving line 16-1 through the main shaft 5, and the main driving line 6 drives the thumb to act.
As shown in fig. 1-3, the main connecting rod 4 is connected with the auxiliary connecting rod 2 through a connecting shaft 3, the auxiliary connecting rod 2 is symmetrically provided with a wire passing roller 1, the wire passing roller 1 comprises a first wire passing roller 1-1, a second wire passing roller 1-2, a third wire passing roller 1-3 and a fourth wire passing roller 1-4, the first wire passing roller 1-1 is connected with an index finger driving wire 16-2, the second wire passing roller 1-2 is connected with a middle finger driving wire 16-3, the third wire passing roller 1-3 is connected with a ring finger driving wire 16-4, and the fourth wire passing roller 1-4 is connected with a small finger driving wire 16-5. The main shaft 5 on the main connecting rod 4 moves the thumb to correspondingly move, the auxiliary connecting rod 2 movably connected with the connecting shaft 3 also moves adaptively, and the auxiliary connecting rod 2 moves through the wire roller 1 correspondingly.
The auxiliary connecting rod 2 is respectively connected with an index finger driving line 16-2, a middle finger driving line 16-3, a ring finger driving line 16-4 and a small finger driving line 16-5 through a threading roller 1, a threading hole 15 is formed in the threading roller 1, the index finger driving line 16-2, the middle finger driving line 16-3, the ring finger driving line 16-4 and the small finger driving line 16-5 are connected and respectively penetrate through the first threading roller 1-1, the second threading roller 1-2, the third threading roller 1-3 and the fourth threading roller 1-4, and in order to prevent the index finger driving line 16-2, the middle finger driving line 16-3, the ring finger driving line 16-4 and the small finger driving line 16-5 from being connected and then rubbing with the surface of the auxiliary connecting rod 2 after penetrating through the threading hole 15, a threading track 12 is arranged on the auxiliary connecting rod 2 corresponding to the threading hole 15, so that the surface of the auxiliary connecting rod 2 is effectively protected.
The index finger, the middle finger, the ring finger and the little finger connected with the threading roller 1 respectively act simultaneously under the action of the index finger driving line 16-1, the middle finger driving line 16-2, the ring finger driving line 16-3 and the little finger driving line 16-4, and the gripping and stretching actions of the bionic hand are completed together with the thumb.
The utility model patent of application number CN202022239251.9 has fully disclosed the structure of bionic finger and bionic hand, and the internal structure and the structure composition thereof will not be described in detail here, but the implementation process of the driving device will be described in detail only on the basis of the structure.
As shown in fig. 2, the main shaft 5 is provided with a pulley 10, the pulley 10 is a movable pulley, and the arrangement of the movable pulley not only can reduce the friction between the main driving wire 6 and the main shaft 5, but also can save the power in the driving process. The main driving wire 6 is connected with the thumb driving wire 16-1 by the wire hole 11 and bypasses the pulley 10, and the action of controlling the thumb can be achieved by operating the main driving wire 6.
The main driving wire 6 which is wound around the pulley 10 is connected with the connecting roller 8 for driving the thumb through the guide wheel 7 which is arranged in the palm 9, the connecting roller 8 is connected with the thumb driving wire 16-1, and the direction of the force can be changed by the arrangement of the guide wheel 7. The main driving wire 6 passes through the wire passing hole 11, passes around the pulley 10 and is connected with the connecting roller 8 through the guide wheel 7, so that the purpose of operating the thumb action through the main driving wire 6 can be achieved.
As shown in fig. 4, the end of the finger driving wire 16 is provided with a pressing block 13, and a spring 14 is arranged below the pressing block 13, so that the self-adaptability of the finger is greatly improved, and the special-shaped objects can be conveniently and accurately grasped. The spring 14 is clamped between the channels 17, so that the left and right shaking of the spring 14 in the driving process can be effectively prevented, the channels 17 are used for the finger driving line 16 to pass through, the finger driving line 16 drives the pressing block 13 to move downwards in the driving process, and the downward moving force is reduced and softened by the reaction force of the spring 14, so that the accurate grabbing of the abnormal object is ensured. Therefore, the arrangement of the spring 14 and the pressing block 13 also increases the self-adaptability of the grasping process of each finger, and facilitates the accurate grasping of irregular objects by each finger.
Finally, it should be noted that: the above examples are only illustrative for the clarity of the utility model and are not meant to be limiting in any way. Other variations or modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, and obvious variations or modifications of the utility model are intended to be within the scope of the utility model.
Claims (8)
1. A driving device of a bionic hand, which is characterized in that: including set up in palm (9) link structure and with the drive line that link structure is connected, the drive line includes main drive line (6) and finger drive line (16), finger drive line (16) include thumb drive line (16-1), index finger drive line (16-2), middle finger drive line (16-3), ring finger drive line (16-4) and little finger drive line (16-5), link structure includes main connecting rod (4) and symmetry set up both sides of main connecting rod (4) with main connecting rod (4) swing joint's auxiliary connecting rod (2), be equipped with main shaft (5) on main connecting rod (4), main drive line (6) are connected with thumb drive line (16-1) through main shaft (5), auxiliary connecting rod (2) are connected with index finger drive line (16-2), middle finger drive line (16-3), ring finger drive line (16-4) and little finger drive line (16-5) respectively.
2. The bionic hand driving apparatus according to claim 1, wherein: the main shaft (5) is provided with a pulley (10), and the main driving wire (6) bypasses the pulley (10) through a wire hole (11) and is connected with the thumb driving wire (16-1).
3. The bionic hand driving apparatus according to claim 2, wherein: the main driving line (6) is connected with a connecting roller (8) for driving the thumb through a guide wheel (7) arranged in the palm (9), and the connecting roller (8) is connected with the thumb driving line (16-1).
4. The bionic hand driving apparatus according to claim 1, wherein: the main connecting rod (4) is connected with the auxiliary connecting rod (2) through the connecting shaft (3), and the auxiliary connecting rod (2) is symmetrically provided with wire passing rollers (1).
5. The bionic hand driving apparatus according to claim 4, wherein: the wire passing roller (1) comprises a first wire passing roller (1-1), a second wire passing roller (1-2), a third wire passing roller (1-3) and a fourth wire passing roller (1-4), wherein the first wire passing roller (1-1) is connected with an index finger driving wire (16-2), the second wire passing roller (1-2) is connected with a middle finger driving wire (16-3), the third wire passing roller (1-3) is connected with a ring finger driving wire (16-4), and the fourth wire passing roller (1-4) is connected with a little finger driving wire (16-5).
6. The bionic hand driving apparatus according to claim 5, wherein: threading holes (15) are formed in the threading roller (1), and threading tracks (12) are arranged on the auxiliary connecting rods (2) corresponding to the threading holes (15).
7. The bionic hand driving apparatus according to claim 6, wherein: the tail end of the finger driving line (16) is provided with a pressing block (13), and a spring (14) is arranged below the pressing block (13).
8. The biomimetic hand driving device according to claim 7, wherein: the spring (14) is clamped between the channels (17), and the channels (17) are used for the finger driving wires (16) to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320170168.1U CN219485698U (en) | 2023-02-09 | 2023-02-09 | Driving device of bionic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320170168.1U CN219485698U (en) | 2023-02-09 | 2023-02-09 | Driving device of bionic hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219485698U true CN219485698U (en) | 2023-08-08 |
Family
ID=87504524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320170168.1U Active CN219485698U (en) | 2023-02-09 | 2023-02-09 | Driving device of bionic hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219485698U (en) |
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2023
- 2023-02-09 CN CN202320170168.1U patent/CN219485698U/en active Active
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