CN103083118B - Drive-by-cable type mechanical arm - Google Patents
Drive-by-cable type mechanical arm Download PDFInfo
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- CN103083118B CN103083118B CN201310019501.XA CN201310019501A CN103083118B CN 103083118 B CN103083118 B CN 103083118B CN 201310019501 A CN201310019501 A CN 201310019501A CN 103083118 B CN103083118 B CN 103083118B
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- finger
- gear
- pull bar
- jointed shaft
- drive
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Abstract
The invention discloses a drive-by-cable type mechanical arm and belongs to the field of medical auxiliary instruments. The drive-by-cable type mechanical arm comprises an arm support, a first finger, a second finger, an elastic element and a control cable. The arm support is provided with a hinged shaft which can rotate around a self axis. Finger root positions of the first finger and the second finger are arranged on the hinged shaft. The first finger and the second finger can rotate around the axis of the hinged shaft. The finger root position of the first finger is provided with an arc-shaped through hole and a transmission gear. The hinged shaft on two sides of the first finger is further provided with a first gear and a second gear. The first gear and the second gear are simultaneously meshed with the transmission gear to form a reversed transmission mechanism. According to the drive-by-cable type mechanical arm, the hinged shaft is rotated, and the goal of switching opening and closing functions of the mechanical arm is achieved. The drive-by-cable type mechanical arm is enabled to integrate with the advantages of the prior art and remedy the defects of the prior art.
Description
Technical field
The present invention relates to a kind of mechanical hand, particularly a kind of have simultaneously arbitrarily pull open and arbitrarily draw the Drive-by-cable type mechanical arm for upper limb amputation patient of closing two kinds of functions.
Background technology
At present, utilize functional upper extremity prosthesis that self power source is handled referred to as Drive-by-cable type mechanical arm.The cardinal principle of Drive-by-cable type mechanical arm pulls hauling rope by the motion of self, and then control the opening and closing of finger and bending and stretching of elbow joint.Mechanical hand both domestic and external can be divided into random opening type and random closed type two class substantially.Doing evil through another person of random opening type, is in thumb, functional position that forefinger, middle finger close during normality, by pulling hauling rope to open hands when getting thing, rely on the torsion of spring to close hands.This kind of structure of doing evil through another person is simple, holds thing laborsaving; Shortcoming is the size that patient arbitrarily can not control grip.And random the doing evil through another person of closed type, be in out hands position during normality, when getting thing, grip can be controlled voluntarily by patient, can be used for grasping heavier object, shortcoming is the pulling force needing to keep hauling rope when holding thing, thus limits some motion of arm, and holds thing effort, complex structure.
For the deficiencies in the prior art, the invention provides a kind of Drive-by-cable type mechanical arm, this Drive-by-cable type mechanical arm combines the function of random opening type and random closed type two class mechanical hand, during work, can select arbitrarily to open or random closure function according to actual conditions by translation function.
Summary of the invention
In view of this, the invention provides a kind of Drive-by-cable type mechanical arm, this mechanical hand possesses switching and pulls open and draw the gear drive closing function, mechanical hand of the present invention is had simultaneously arbitrarily pull open to close two kinds of functions with arbitrarily drawing, mechanical hand of the present invention not only combines the strong point of two class mechanical hands, and compensate for the deficiency of two class mechanical hands in the past.
The present invention is solved the problems of the technologies described above by following technological means:
Drive-by-cable type mechanical arm of the present invention, comprise hands support, the first finger, second finger, flexible member and control cord, described hands support is provided with the jointed shaft that can rotate around own axes, the finger root place of described first finger and second finger is arranged on jointed shaft, first finger and second finger can rotate around the axis of jointed shaft, described first Fingers root place is provided with the arc-shaped through-hole centered by the first finger rotating shaft and points with first the travelling gear be rotatably assorted, and the rotating shaft of described travelling gear is vertical with the rotating shaft that first points; On the jointed shaft of described first Fingers root both sides, also cover has the first gear and the second gear, described first gear and jointed shaft circumferentially secure fit, described second gear is rotatably assorted around jointed shaft, and described first gear and the second gear engage with travelling gear simultaneously and form reverse drive mechanism; The side of described first gear is fixedly installed pull bar I, the side of described second gear is fixedly installed pull bar II, described pull bar I and pull bar II one end separately pass perpendicularly through respectively and stretch out described arc-shaped through-hole, pull bar I and pull bar II lays respectively at the two ends of arc-shaped through-hole, non-interference when the size of described arc-shaped through-hole allows pull bar I and pull bar II to slide in arc-shaped through-hole; One end of described flexible member is connected with the external part of pull bar I, the other end is fixed on hands support, described control cord is connected with the external part of pull bar II, withstand one end of arc-shaped through-hole under the effect of described pull bar I at flexible member when control cord is not subject to pulling of external force, and pull bar II withstands the other end of arc-shaped through-hole.
Further, the finger root outer rim of described second finger is that center of circle circumference is provided with the first driving cog with jointed shaft, near second finger, described jointed shaft refers to that root place is provided with the second driving cog, described hands support is provided with double-layer gear, and described first driving cog and the second driving cog and double-layer gear engage simultaneously and form second finger carries out speedup drive mechanism to the rotation of jointed shaft.
Further, described travelling gear is angular wheel.
Further, described flexible member is extension spring.
Beneficial effect of the present invention: torsion can be delivered on jointed shaft by rotating second finger by Drive-by-cable type mechanical arm of the present invention, pull bar I on the first gear driving circumference to be with it fixedly connected with and the first gear rotates by described jointed shaft simultaneously, because the first gear and the second gear engage with travelling gear and form reverse drive mechanism simultaneously, pull bar II on drive second gear and the second gear reversely rotates by described first gear, described pull bar I and pull bar II is by the other end of each one end reverse slide since arc-shaped through-hole to arc-shaped through-hole, complete the flexible member and control cord exchange in position that are connected with pull bar I and pull bar II, and then reach conversion and arbitrarily pull open and arbitrarily draw the object of closing function, make user to pull open according to different work requirements unrestricted choice or to draw and close function.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the schematic perspective view of Drive-by-cable type mechanical arm of the present invention;
Fig. 2 is the decomposing schematic representation of Drive-by-cable type mechanical arm of the present invention;
Fig. 3 is the side schematic view of Drive-by-cable type mechanical arm of the present invention;
Fig. 4 is finger A-A generalized section of the present invention;
Fig. 5 is the schematic perspective view that Drive-by-cable type mechanical arm of the present invention is in when arbitrarily pulling open function naturalness;
Fig. 6 is that Drive-by-cable type mechanical arm of the present invention is in the schematic perspective view arbitrarily pulled open when function pulls open state;
Fig. 7 is that Drive-by-cable type mechanical arm of the present invention is in the schematic perspective view arbitrarily drawn when closing function naturalness;
Fig. 8 is that Drive-by-cable type mechanical arm of the present invention is in arbitrarily to draw and closes function and draw schematic perspective view when closing state.
Detailed description of the invention
Below with reference to accompanying drawing, the present invention is described in detail, as shown in Fig. 1 to 8: Drive-by-cable type mechanical arm of the present invention, comprise hands support 1, first finger 2, second finger 3, flexible member 4 and control cord 5, described hands support 1 is provided with the jointed shaft 6 that can rotate around own axes, the finger root place of described first finger 2 and second finger 3 is arranged on handing-over axle, first finger 2 and second finger 3 can rotate around the axis of jointed shaft 6, described first finger 2 refers to that root place is provided with the arc-shaped through-hole 7 centered by the first finger rotating shaft and points 2 travelling gears be rotatably assorted 8 with first, described travelling gear 8 is angular wheel, the rotating shaft of described travelling gear 8 is vertical with the rotating shaft that first points, described travelling gear 8 can follow the first finger 2 around jointed shaft 6 synchronous rotary, on the jointed shaft 6 of described first finger 2 finger root both sides, also cover has the first gear 9 and the second gear 10, described first gear 9 and jointed shaft 6 circumferentially secure fit, described second gear 10 is rotatably assorted around jointed shaft 6, and described first gear and the second gear engage with travelling gear simultaneously and form reverse drive mechanism, the side of described first gear 9 is fixedly installed pull bar I 11, the side of described second gear 10 is fixedly installed pull bar II 12, the respective one end of described pull bar I 11 and pull bar II 12 passes perpendicularly through respectively and stretches out described arc-shaped through-hole 7, pull bar I and pull bar II lays respectively at the two ends of arc-shaped through-hole 7, non-interference when the size of described arc-shaped through-hole 7 allows pull bar I 11 and pull bar II 12 to slide in arc-shaped through-hole 7, one end of described flexible member 4 is connected with the external part of pull bar I 11, the other end is fixed on hands support 1, described control cord 5 is connected with the external part of pull bar II 12, when control cord 5 is not subject to pulling of external force, described pull bar I 11 withstands one end of arc-shaped through-hole 7 under the effect of flexible member 4, and pull bar II 12 withstands the other end of arc-shaped through-hole 7.When described Drive-by-cable type mechanical arm translation function, first rotary hinge spindle 6, the first gear 9 synchronous rotary with it that jointed shaft 6 drives circumference to be with it fixedly connected with, torsion is delivered to the second gear 10 by travelling gear 8 and drives the second gear 10 and the pull bar II 12 that is fixedly connected with the second gear 10 reversely rotates by the first gear 9, described pull bar I 11 and pull bar II 12 is by the other end of each one end reverse slide since arc-shaped through-hole 7 to arc-shaped through-hole 7, complete the flexible member 4 and control cord 5 exchange in position that are connected with pull bar I 11 and pull bar II 12, and then reach conversion and arbitrarily pull open and arbitrarily draw the object of closing function, make user to pull open according to different work requirements unrestricted choice or to draw and close function.
As the further improvement of technique scheme, as illustrated in fig. 1 and 2, the finger root outer rim of described second finger 3 with jointed shaft 6 for center of circle circumference is provided with the first driving cog 13, near second finger 3, described jointed shaft 6 refers to that root place is provided with the second driving cog 14, described hands support 1 is provided with double-layer gear 15, and described first driving cog 13 and the second driving cog 14 engage with double-layer gear 15 simultaneously and form forward speed booster driving mechanism.By arranging the double-layer gear 15 engaged with the first driving cog 13 in second finger 3, and the second driving cog 14 that setting is engaged with double-layer gear 15 on jointed shaft 6 defines forward speed booster driving mechanism, only need move when translation function second finger 3 just can reach conversion pull open and draw the object of closing function, there is feature simple to operate.
As the further improvement of technique scheme, described flexible member 4 is extension spring.Adopt extension spring can reduce cost of the present invention further, make it have more practicality.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (4)
1. Drive-by-cable type mechanical arm, comprise hands support (1), the first finger (2), second finger (3), flexible member (4) and control cord (5), described hands support (1) is provided with the jointed shaft (6) that can rotate around own axes, the finger root place of described first finger (2) and second finger (3) is arranged on jointed shaft (6), first finger (2) and second finger (3) can rotate around the axis of jointed shaft (6), it is characterized in that:
Described first finger (2) refers to that root place is provided with the arc-shaped through-hole (7) centered by the first finger rotating shaft and points with first the travelling gear (8) be rotatably assorted, the rotating shaft of described travelling gear (8) is vertical with the rotating shaft that first points, and described travelling gear (8) can follow the first finger (2) around jointed shaft (6) synchronous rotary;
On the jointed shaft (6) that described first finger (2) refers to root both sides, also cover has the first gear (9) and the second gear (10), described first gear (9) and jointed shaft (6) circumferentially secure fit, described second gear is rotatably assorted around jointed shaft (6), and described first gear (9) and the second gear (10) engage with travelling gear (8) simultaneously and form reverse drive mechanism;
The side of described first gear (9) is fixedly installed pull bar I (11), the side of described second gear (10) is fixedly installed pull bar II (12), described pull bar I (11) and the respective one end of pull bar II (12) pass perpendicularly through respectively and stretch out described arc-shaped through-hole (7), pull bar I (11) and pull bar II (12) lays respectively at the two ends of arc-shaped through-hole (7), non-interference when the size of described arc-shaped through-hole (7) allows pull bar I (11) and pull bar II (12) to slide in arc-shaped through-hole (7);
One end of described flexible member (4) is connected with the external part of pull bar I (11), the other end is fixed on hands support (1), described control cord (5) is connected with the external part of pull bar II (12), when control cord (5) is not subject to pulling of external force, described pull bar I (11) withstands one end of arc-shaped through-hole (7) under the effect of flexible member (4), and pull bar II (12) withstands the other end of arc-shaped through-hole (7).
2. Drive-by-cable type mechanical arm according to claim 1, it is characterized in that: the finger root outer rim of described second finger (3) with jointed shaft (6) for center of circle circumference is provided with the first driving cog (13), near second finger (3), described jointed shaft (6) is upper refers to that root place is provided with the second driving cog (14), described hands support (1) is provided with double-layer gear (15), described first driving cog (13) and the second driving cog (14) engage with double-layer gear (15) simultaneously and form the drive mechanism that speedup is carried out in the rotation of second finger (3) to jointed shaft (6).
3. Drive-by-cable type mechanical arm according to claim 2, is characterized in that: described travelling gear (8) is angular wheel.
4. Drive-by-cable type mechanical arm according to claim 3, is characterized in that: described flexible member (4) is extension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310019501.XA CN103083118B (en) | 2013-01-18 | 2013-01-18 | Drive-by-cable type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310019501.XA CN103083118B (en) | 2013-01-18 | 2013-01-18 | Drive-by-cable type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103083118A CN103083118A (en) | 2013-05-08 |
| CN103083118B true CN103083118B (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310019501.XA Expired - Fee Related CN103083118B (en) | 2013-01-18 | 2013-01-18 | Drive-by-cable type mechanical arm |
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| Country | Link |
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| CN (1) | CN103083118B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922278A (en) * | 2016-06-13 | 2016-09-07 | 李�杰 | Finger mechanism of mechanical tongs |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0748194B1 (en) * | 1994-03-12 | 1998-07-15 | Royal Infirmary Of Edinburgh Nhs Trust | Hand prosthesis |
| CN101919755A (en) * | 2010-07-25 | 2010-12-22 | 山东科技大学 | Joint traction type humanoid robot hand |
| CN202097733U (en) * | 2011-02-28 | 2012-01-04 | 俞甫 | Dangerous article collecting manipulator device driven by pneumatic muscle |
| CN202668557U (en) * | 2012-06-02 | 2013-01-16 | 上海大学 | Novel under-actuated robot finger mechanism |
-
2013
- 2013-01-18 CN CN201310019501.XA patent/CN103083118B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0748194B1 (en) * | 1994-03-12 | 1998-07-15 | Royal Infirmary Of Edinburgh Nhs Trust | Hand prosthesis |
| CN101919755A (en) * | 2010-07-25 | 2010-12-22 | 山东科技大学 | Joint traction type humanoid robot hand |
| CN202097733U (en) * | 2011-02-28 | 2012-01-04 | 俞甫 | Dangerous article collecting manipulator device driven by pneumatic muscle |
| CN202668557U (en) * | 2012-06-02 | 2013-01-16 | 上海大学 | Novel under-actuated robot finger mechanism |
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| Publication number | Publication date |
|---|---|
| CN103083118A (en) | 2013-05-08 |
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Granted publication date: 20150520 Termination date: 20160118 |
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