CN101057791A - Thumb mechanism for under-driven adaptive prosthetic hand - Google Patents
Thumb mechanism for under-driven adaptive prosthetic hand Download PDFInfo
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- CN101057791A CN101057791A CN 200710072151 CN200710072151A CN101057791A CN 101057791 A CN101057791 A CN 101057791A CN 200710072151 CN200710072151 CN 200710072151 CN 200710072151 A CN200710072151 A CN 200710072151A CN 101057791 A CN101057791 A CN 101057791A
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- nearly dactylus
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- dactylus
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Abstract
The invention discloses a thumb device for artificial hand. The driving device (1) is in rotary connection with the back part of near knuckle (4), the front part of near knuckle is in rotary connection with back part of middle knuckle (3), and the front end of middle knuckle is in rotary connection with the back part of far knuckle (2). The middle knuckle and near knuckle imitate deficient activation motion of real hand driven by middle knuckle shaft disk, the middle knuckle and far knuckle imitate coupling motion of real hand driven by coupling rod; and the knuckle number of thumb is imitative to that of real hand. The invention is characterized by simple structure, real-like appearance and flexible motion of each knuckle.
Description
Technical field
The present invention relates to a kind of thumb mechanism of doing evil through another person.
Background technology
At present, the thumb of doing evil through another person that most of people with disabilitys install often can only be difficult to the space motion of imitation staff thumb to a direction motion, makes the riding position of thumb on palm, and the outward appearance of thumb and staff all have very big difference.Also be for this reason, manyly the people with disabilitys that do evil through another person need to be installed to be unwilling to use and to do evil through another person.Show that according to investigations people with disability over half more pay attention to the doing evil through another person verisimilitude of outward appearance is arranged, we can say that this is in design the very big bottleneck of doing evil through another person at present.Patent application publication number is CN 1803413A, open day be that the patent application on July 19th, 2006 discloses a kind of " thumb mechanism of under-driven adaptive prosthetic hand ", though this thumb mechanism has been realized aperyization in motion, but also do not reach aperyization completely in the dactylus number of thumb, the riding position of thumb, do not have staff true to nature.
Summary of the invention
The thumb mechanism that the purpose of this invention is to provide a kind of under-driven adaptive prosthetic hand, the thumb mechanism that it can solve existing under-driven adaptive prosthetic hand exists the dactylus number of thumb, the riding position and the kinematic dexterity aspect of thumb also not to reach aperyization completely, does not have staff problem true to nature.
The present invention is made up of drive mechanism, dactylus far away, middle finger joint and nearly dactylus; Described drive mechanism is rotationally connected with the rear end of nearly dactylus; The front end of described nearly dactylus and the rear end of middle finger joint are rotationally connected, and the front end of middle finger joint is rotationally connected with the rear end of dactylus far away.
The present invention has following beneficial effect: middle finger joint of the present invention and nearly dactylus are realized the actuation movement of owing of apery hand finger by the drive of middle joint reel, and middle finger joint and dactylus far away are realized the coupled motions of apery hand finger by the drive of coupled links.The dactylus number of the dactylus digital-to-analogue apery hands thumb of thumb, and very similar to the thumb movement mode of true hands.Nearly dactylus drives motion by drive mechanism, and by nearly dactylus drive middle finger joint and dactylus motion far away, and each cradle head place has all added bearing, frictional force is little, finger motion motility and reliability improve greatly, therefore the present invention have simple in structure, image appearance is true to nature, each dactylus motion flexibly, motion advantage freely.
Description of drawings
Fig. 1 is overall structure sketch map of the present invention (palm of the hand of doing evil through another person down), Fig. 2 is the A-A profile of Fig. 1, Fig. 3 is overall structure sketch map of the present invention (palm of the hand of doing evil through another person up), and Fig. 4 is the B-B profile of Fig. 3, and Fig. 5 is overall structure sketch map of the present invention (a thumb straight configuration).
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1 present embodiment is described, present embodiment is made up of drive mechanism 1, dactylus 2 far away, middle finger joint 3 and nearly dactylus 4; Described drive mechanism 1 is rotationally connected with the rear end of nearly dactylus 4; The rear end of the front end of described nearly dactylus 4 and middle finger joint 3 is rotationally connected, and the front end of middle finger joint 3 is rotationally connected with the rear end of dactylus 2 far away.
The specific embodiment two: in conjunction with Fig. 1 and Fig. 2 present embodiment is described, the drive mechanism 1 of present embodiment is made up of motor 5, decelerator 6, motor cabinet 7, thumb support 8, motor bearings 9, cone pinion 10, motor sleeve 11, large bevel gear 12, basic joint shaft 13, gear interstage sleeve 14, pick off 17, thrust bearing 18, clutch shaft bearing 20; The power shaft of the output shaft of described motor 5 and decelerator 6 is in transmission connection, decelerator 6 is affixed with motor cabinet 7, motor cabinet 7 is affixed with thumb support 8, motor bearings 9 is housed on the motor cabinet 7, described cone pinion 10 is contained on the output shaft of decelerator 6 by motor sleeve 11, cone pinion 10 and large bevel gear 12 engagements, large bevel gear 12 is contained on the basic joint shaft 13, the two ends of base joint shaft 13 are contained in the axis hole 19 of thumb support 8 sidewalls, gear interstage sleeve 14 is installed on the basic joint shaft 13 in large bevel gear 12 outsides, and the homalocephalus end 15 of gear interstage sleeve 14 is installed in the flat hole 16 of large bevel gear 12, be contained on the basic joint shaft 13 in the thumb support 8 pick off 17 fixedly is housed, on the basic joint shaft 13 of homalocephalus end 15 inboards of gear interstage sleeve 14 thrust bearing 18 is housed, in the axis hole 19 of thumb support 8 sidewalls at basic joint shaft 13 two ends clutch shaft bearing 20 is housed.So be provided with, it is simple in structure, stable drive, reliable, engagement by large and small bevel gear and gear interstage sleeve 14 are fixedlyed connected with large bevel gear 12, give basic joint shaft 13 with transmission of power, thereby drive nearly dactylus 4 motions, the P110-06-2.5 two-phase permanent magnet motor that the motor in the present embodiment adopts Portestcap company to produce, the manufacturer of decelerator 6 is identical with motor; The resistance strain gage of pick off adopts miniature high-resistance metal foil gauge SR-4 that German BLH company produces as sensing element.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 2 present embodiment is described, the difference of the present embodiment and the specific embodiment two is: the drive mechanism 1 of present embodiment also increases has motor to adjust pad 21; Described motor is adjusted pad 21 and is contained between motor cabinet 7 and the thumb support 8.So be provided with, be used to adjust the back lash between large bevel gear 12 and the cone pinion 10.
The specific embodiment four: in conjunction with Fig. 3 and Fig. 4 present embodiment is described, the dactylus far away 2 of present embodiment is made up of fingertip 22, finger tip 23, finger tip axle 25, finger tip bearing 26, finger tip coupled links pin 27; Described fingertip 22 is enclosed within on the finger tip 23, in the connecting hole 24 of finger tip 23 lower ends finger tip axle 25 is housed, and on the finger tip axle 25 in the described connecting hole 24 finger tip bearing 26 is housed, and described finger tip coupled links pin 27 is contained on the finger tip 23.So be provided with, have advantage simple in structure, reliable operation.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: in conjunction with Fig. 3～Fig. 5 present embodiment is described, the nearly dactylus 4 of present embodiment is made up of middle joint reel 28, nearly dactylus left plate 31, nearly dactylus right plate 32, nearly dactylus upper cover plate 33, nearly dactylus lower cover 34, basic joint backplate 35, middle joint backplate 36, nearly dactylus bearing 37, pad 38, torsion spring backing pin 39, torsion spring 40, push rod 41, ball pivot pitman pin 42, ball pivot 43, collar 44, push rod guide 45, bearing pin 46, nearly dactylus coupled links pin 47, coupled links 48; Joint reel 28 is made up of middle joint shaft 29 and eccentric reel 30 in described, and eccentric reel 30 fixedly is housed on the middle joint shaft 29; Described nearly dactylus left plate 31 and nearly dactylus right plate 32 lay respectively at the left and right sides of pick off 17, the rear end of the rear end of nearly dactylus left plate 31 and nearly dactylus right plate 32 is sleeved on the basic joint shaft 13 in the thumb pedestal 8, the front end sleeve of the front end of nearly dactylus left plate 31 and nearly dactylus right plate 32 is contained on the middle joint shaft 29, nearly dactylus upper cover plate 33 is affixed with the upper surface of nearly dactylus right plate 32 with the upper surface of nearly dactylus left plate 31 respectively, nearly dactylus lower cover 34 is affixed with the lower surface of nearly dactylus right plate 32 with the lower surface of nearly dactylus left plate 31 respectively, base joint backplate 35 is affixed with the back upper surface of nearly dactylus right plate 32 with the back upper surface of nearly dactylus left plate 31 respectively, middle joint backplate 36 is affixed with the front end of nearly dactylus right plate 32 with the front end of nearly dactylus left plate 31 respectively, between nearly dactylus left plate 31 and nearly dactylus right plate 32 and the middle joint shaft 29 nearly dactylus bearing 37 and pad 38 are housed respectively, on the nearly dactylus right plate 32 with on the eccentric reel 30 a torsion spring backing pin 39 is housed fixedly respectively, torsion spring 40 is contained on the middle joint shaft 29 and between two torsion spring backing pins 39, push rod 41 is connected with described pick off 17, the rear end of push rod 41 is contained on the ball pivot pitman pin 42, between ball pivot pitman pin 42 and the push rod 41 ball pivot 43 is housed, the left end of ball pivot pitman pin 42 is equipped with collar 44, the front end of push rod 41 is connected with push rod guide 45, push rod guide 45 is contained on the eccentric reel 30 by bearing pin 46, the front end of the front end of nearly dactylus left plate 31 and nearly dactylus right plate 32 is fixed with nearly dactylus coupled links pin 47, and the two ends of coupled links 48 are connected with finger tip coupled links pin 27 with nearly dactylus coupled links pin 47 respectively.Its simple in structure, reliable operation so is set.Other composition and annexation are identical with the specific embodiment one, two, three, four.
The specific embodiment six: in conjunction with Fig. 3～Fig. 5 present embodiment is described, the middle finger joint 3 of present embodiment is made up of middle finger joint left plate 49, middle finger joint right plate 50, middle finger joint upper cover plate 51, middle finger joint lower cover 52, driving bearing pin 53; The front end of the front end of described middle finger joint left plate 49 and middle finger joint right plate 50 is set on the finger tip axle 25, the rear end of the rear end of middle finger joint left plate 49 and middle finger joint right plate 50 is set on the middle joint shaft 29, middle finger joint upper cover plate 51 is affixed with the upper surface of the upper surface of middle finger joint left plate 49 and middle finger joint right plate 50 respectively, middle finger joint lower cover 52 is affixed with the lower surface of the lower surface of middle finger joint left plate 49 and middle finger joint right plate 50 respectively, drive bearing pin 53 and be contained on the described eccentric reel 30, and middle finger joint left plate 49 and middle finger joint right plate 50 are run through in the two ends of driving bearing pin 53.Other composition and annexation are identical with the specific embodiment one, two, three, four, five.
Operation principle: the output shaft of motor 5 is given cone pinion 10 with transmission of power after decelerator 6 slows down, and changes transmission direction through large bevel gear 12, gives basic joint shaft 13 with transmission of power, thereby passes to pick off 17.In joint shaft 29 nearly dactylus 4 and middle finger joint 3 run through and connect together, middle finger joint 3 can be around nearly dactylus 4 rotations.Bearing pin 46 connects firmly together with eccentric reel 30 simultaneously, reel 28 rotations in joint in the drive.Pick off 17 and ball pivot 43, push rod 41 are chained together, joint reel 28 during push rod 41 promotes.Do not run into object or be not subjected under the situation of external force at finger, around basic joint shaft 13 rotations, torsion spring 40 remains middle finger joint 3 and nearly dactylus 4 is in straight configuration with single rigid body for whole finger; After nearly dactylus 4 was run into object, push rod 41 passed to making every effort to overcome when obeying torsion spring 40 power of middle joint reel 28, and middle joint reel 28 drives middle finger joints 3 rotations by bearing pin 46.
Claims (6)
1, a kind of thumb mechanism of under-driven adaptive prosthetic hand, it is made up of drive mechanism (1), dactylus (2) far away, middle finger joint (3) and nearly dactylus (4); Described drive mechanism (1) is rotationally connected with the rear end of nearly dactylus (4); It is characterized in that the front end of described nearly dactylus (4) and the rear end of middle finger joint (3) are rotationally connected, the front end of middle finger joint (3) is rotationally connected with the rear end of dactylus (2) far away.
2, the thumb mechanism of a kind of under-driven adaptive prosthetic hand according to claim 1 is characterized in that described drive mechanism (1) comprises motor (5), decelerator (6), motor cabinet (7), thumb support (8), motor bearings (9), cone pinion (10), motor sleeve (11), large bevel gear (12), basic joint shaft (13), gear interstage sleeve (14), pick off (17), thrust bearing (18), clutch shaft bearing (20); The power shaft of the output shaft of described motor (5) and decelerator (6) is in transmission connection, decelerator (6) is affixed with motor cabinet (7), motor cabinet (7) is affixed with thumb support (8), motor bearings (9) is housed on the motor cabinet (7), described cone pinion (10) is contained on the output shaft of decelerator (6) by motor sleeve (11), cone pinion (10) and large bevel gear (12) engagement, large bevel gear (12) is contained on the basic joint shaft (13), the two ends of base joint shaft (13) are contained in the axis hole (19) of thumb support (8) sidewall, gear interstage sleeve (14) is installed on the basic joint shaft (13) in large bevel gear (12) outside, and the homalocephalus end (15) of gear interstage sleeve (14) is installed in the flat hole (16) of large bevel gear (12), the basic joint shaft (13) that is contained in the thumb support (8) upward fixedly is equipped with pick off (17), on the basic joint shaft (13) of homalocephalus end (15) inboard of gear interstage sleeve (14) thrust bearing (18) is housed, in the axis hole (19) of thumb support (8) sidewall at basic joint shaft (13) two ends clutch shaft bearing (20) is housed.
3, the thumb mechanism of a kind of under-driven adaptive prosthetic hand according to claim 2 is characterized in that described drive mechanism (1) also comprises motor adjustment pad (21); Described motor is adjusted pad (21) and is contained between motor cabinet (7) and the thumb support (8).
4, the thumb mechanism of a kind of under-driven adaptive prosthetic hand according to claim 1 is characterized in that described dactylus far away (2) is made up of fingertip (22), finger tip (23), finger tip axle (25), finger tip bearing (26), finger tip coupled links pin (27); Described fingertip (22) is enclosed within on the finger tip (23), in the connecting hole (24) of finger tip (23) lower end finger tip axle (25) is housed, on the finger tip axle (25) in the described connecting hole (24) finger tip bearing (26) is housed, described finger tip coupled links pin (27) is contained on the finger tip (23).
5, the thumb mechanism of a kind of under-driven adaptive prosthetic hand according to claim 4 is characterized in that described nearly dactylus (4) is by middle joint reel (28), nearly dactylus left plate (31), nearly dactylus right plate (32), nearly dactylus upper cover plate (33), nearly dactylus lower cover (34), base joint backplate (35), middle joint backplate (36), nearly dactylus bearing (37), pad (38), torsion spring backing pin (39), torsion spring (40), push rod (41), ball pivot pitman pin (42), ball pivot (43), collar (44), push rod guide (45), bearing pin (46), nearly dactylus coupled links pin (47), coupled links (48) is formed; Joint reel (28) is made up of middle joint shaft (29) and eccentric reel (30) in described, and middle joint shaft (29) is gone up eccentric reel (30) fixedly is housed; Described nearly dactylus left plate (31) and nearly dactylus right plate (32) lay respectively at the left and right sides of pick off (17), the rear end of the rear end of nearly dactylus left plate (31) and nearly dactylus right plate (32) is sleeved on the interior basic joint shaft (13) of thumb pedestal (8), the front end sleeve of the front end of nearly dactylus left plate (31) and nearly dactylus right plate (32) is contained on the middle joint shaft (29), nearly dactylus upper cover plate (33) is affixed with the upper surface of nearly dactylus right plate (32) with the upper surface of nearly dactylus left plate (31) respectively, nearly dactylus lower cover (34) is affixed with the lower surface of nearly dactylus right plate (32) with the lower surface of nearly dactylus left plate (31) respectively, base joint backplate (35) is affixed with the back upper surface of nearly dactylus right plate (32) with the back upper surface of nearly dactylus left plate (31) respectively, middle joint backplate (36) is affixed with the front end of nearly dactylus right plate (32) with the front end of nearly dactylus left plate (31) respectively, between nearly dactylus left plate (31) and nearly dactylus right plate (32) and the middle joint shaft (29) nearly dactylus bearing (37) and pad (38) are housed respectively, nearly dactylus right plate (32) upward and on the eccentric reel (30) fixedly is equipped with a torsion spring backing pin (39) respectively, torsion spring (40) is contained on the middle joint shaft (29) and is positioned between two torsion spring backing pins (39), push rod (41) is connected with described pick off (17), the rear end of push rod (41) is contained on the ball pivot pitman pin (42), between ball pivot pitman pin (42) and the push rod (41) ball pivot (43) is housed, the left end of ball pivot pitman pin (42) is equipped with collar (44), the front end of push rod (41) is connected with push rod guide (45), push rod guide (45) is contained on the eccentric reel (30) by bearing pin (46), the front end of the front end of nearly dactylus left plate (31) and nearly dactylus right plate (32) is fixed with nearly dactylus coupled links pin (47), and the two ends of coupled links (48) are connected with finger tip coupled links pin (27) with nearly dactylus coupled links pin (47) respectively.
6, the thumb mechanism of a kind of under-driven adaptive prosthetic hand according to claim 5, it is characterized in that described middle finger joint (3) by middle finger joint left plate (49), middle finger joint right plate (50), middle finger joint upper cover plate (51), middle finger joint lower cover (52), drive bearing pin (53) and form; The front end of the front end of described middle finger joint left plate (49) and middle finger joint right plate (50) is set on the finger tip axle (25), the rear end of the rear end of middle finger joint left plate (49) and middle finger joint right plate (50) is set on the middle joint shaft (29), middle finger joint upper cover plate (51) is affixed with the upper surface of the upper surface of middle finger joint left plate (49) and middle finger joint right plate (50) respectively, middle finger joint lower cover (52) is affixed with the lower surface of the lower surface of middle finger joint left plate (49) and middle finger joint right plate (50) respectively, drive bearing pin (53) and be contained on the described eccentric reel (30), and middle finger joint left plate (49) and middle finger joint right plate (50) are run through in the two ends of driving bearing pin (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072151 CN101057791A (en) | 2007-04-29 | 2007-04-29 | Thumb mechanism for under-driven adaptive prosthetic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072151 CN101057791A (en) | 2007-04-29 | 2007-04-29 | Thumb mechanism for under-driven adaptive prosthetic hand |
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| CN101057791A true CN101057791A (en) | 2007-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200710072151 Pending CN101057791A (en) | 2007-04-29 | 2007-04-29 | Thumb mechanism for under-driven adaptive prosthetic hand |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN104825259A (en) * | 2015-04-30 | 2015-08-12 | 大连理工大学 | Functional finger prosthesis |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN105078624A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Electric two-dimensional bionic hand thumb |
| CN105397823A (en) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | Self-locking abduction-adduction mechanism for thumb of dexterous robot hand |
| CN105455929A (en) * | 2016-02-12 | 2016-04-06 | 徐金鹏 | Voice control prosthetic manipulator |
| CN106038006A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure for middle phalanx and proximal phalanx of prosthetic thumb |
| CN106038004A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of middle phalanx and proximal phalanx of prosthetic finger |
| CN106038003A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic thumb |
| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
| CN111529148A (en) * | 2020-05-08 | 2020-08-14 | 上海理工大学 | Bionic thumb device |
| CN111645096A (en) * | 2020-06-13 | 2020-09-11 | 南通大学 | Slider promotes type robot finger structure |
| CN112596198A (en) * | 2020-12-28 | 2021-04-02 | 中国科学院长春光学精密机械与物理研究所 | Curvature error adjusting device and method for large-diameter spliced reflector |
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2007
- 2007-04-29 CN CN 200710072151 patent/CN101057791A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN104825259B (en) * | 2015-04-30 | 2016-08-24 | 大连理工大学 | A kind of functional finger prosthesis |
| CN104825259A (en) * | 2015-04-30 | 2015-08-12 | 大连理工大学 | Functional finger prosthesis |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN105078624A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Electric two-dimensional bionic hand thumb |
| CN106038006A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure for middle phalanx and proximal phalanx of prosthetic thumb |
| CN106038004A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Connecting structure of middle phalanx and proximal phalanx of prosthetic finger |
| CN106038003A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic thumb |
| CN106038004B (en) * | 2015-11-18 | 2018-03-02 | 杭州若比邻机器人科技有限公司 | The nearly finger joint of artificial limb finger and the attachment structure of base finger joint |
| CN105397823A (en) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | Self-locking abduction-adduction mechanism for thumb of dexterous robot hand |
| CN105455929A (en) * | 2016-02-12 | 2016-04-06 | 徐金鹏 | Voice control prosthetic manipulator |
| CN111529148A (en) * | 2020-05-08 | 2020-08-14 | 上海理工大学 | Bionic thumb device |
| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
| CN111645096A (en) * | 2020-06-13 | 2020-09-11 | 南通大学 | Slider promotes type robot finger structure |
| CN112596198A (en) * | 2020-12-28 | 2021-04-02 | 中国科学院长春光学精密机械与物理研究所 | Curvature error adjusting device and method for large-diameter spliced reflector |
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