CN103538077A - Mechanical simulated hand with multi-degree of freedom - Google Patents
Mechanical simulated hand with multi-degree of freedom Download PDFInfo
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- CN103538077A CN103538077A CN201310476562.9A CN201310476562A CN103538077A CN 103538077 A CN103538077 A CN 103538077A CN 201310476562 A CN201310476562 A CN 201310476562A CN 103538077 A CN103538077 A CN 103538077A
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Abstract
The invention discloses a mechanical simulated hand with multi-degree of freedom. The mechanical simulated hand comprises five fingers including a thumb, an index finger, a middle finger, a ring finger and a little finger, and the five fingers are connected with a base mechanical palm. The index finger, the middle finger, the ring finger and the little finger are identical in structure and provided with two bending and stretching degrees of freedom, and each of them comprises a housing, a finger root, a finger tip and a transmission connecting rod; a motor and a transmission worm gear worm are mounted in the housing; one end of the transmission worm gear worm is connected with an output shaft of the motor, the other end of the transmission worm gear worm is rotationally connected with one end of the finger root, and the other end of the finger root is rotationally connected with the rear section of the finger tip; one end of the transmission connecting rod is rotationally connected with the housing, and the other end of the transmission connecting rod is rotationally connected with the inner side of the rear section of the finger tip. The mechanical simulated hand with multi-degree of freedom is simple and convenient in technical operation, and abundance finger motion abilities such as clenching, key and ball holding can be provided for patients in limited space by the aid of computer control.
Description
Technical field
The present invention relates to the manipulator of medical rehabilitation instrument field, particularly a kind of multiple degrees of freedom bionic mechanical hand.
Background technology
Medical science of recovery therapy is the new branch of science occurring mid-term in 20th century, its object is to pass through physical therapy, kinesiatrics, life training, skill training, the multiple means such as speech training and psychological consultation alleviate and eliminate patient's dysfunction, the function of health residual fraction is fully played most, make up the afunction with reconstruction patients, reach taking care of oneself of maximum possible, the ability of work and work.Along with the increase of various natural calamities, accident, the quantity of extremity disabled persons is also increasing year by year.For the disabled person of amputation, current modal recovery measure is that artificial limb is installed, to obtain basic limb function.Along with the various clampers of development in science and technology, manipulator constantly emerge, but be not quite similar in its number in the free degree and distribution.
Through finding for existing technical literature retrieval.
Chinese invention patent publication number: CN202568539, title: the electronic control artigicial arm of short two degrees of freedom.The free degree of wrist with two joints of finger only can be provided, complete the unexpected complicated hand exercise of generally clenching fist.
Chinese invention patent publication number: CN101836908, title: integral light and beautiful myoelectric hand.Only for the thumb free degree, drive, for complicated hand exercise, cannot complete equally.
Chinese invention patent publication number: CN1365877, title: multi-finger hand simulating.Use bending and stretching of the bending and stretching of Electric Machine Control four fingers, an Electric Machine Control thumb, only can complete the grasping movement of clenching fist, for holding key, hold baseball, stretch out the actions such as forefinger and cannot complete.
Chinese invention patent publication number: CN1418765, title: Dexterous Robot Hand Mechanism.Two Electric Machine Control have been used in the motion of two dactylus for finger, seem too fat to move and redundancy owes to drive interlock rationally not as using.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of simple in structure, control multiple degrees of freedom bionic mechanical hand flexibly.
The present invention is achieved through the following technical solutions:
A bionic mechanical hand, comprises machine palm matrix 3, five fingers that are connected with machine palm matrix 3, and these five fingers comprise thumb 1-1, forefinger 1-2, middle finger 1-3, nameless 1-4, little finger of toe 1-5 successively; The outside of described machine palm matrix 3 is coated with shell 2.
Identical and the every finger of these four finger structures of described forefinger 1-2, middle finger 1-3, nameless 1-4 and little finger of toe 1-5 has separately two and bends and stretches the free degree;
In these four fingers every finger comprise be provided with motor 7 and transmission worm and gear 8 housing 6, refer to root 9, finger tip 10, kinematic link 11;
One end of described transmission worm and gear 8 is connected with the output shaft of motor 7, and the other end of transmission worm and gear 8 is rotatedly connected with the one end that refers to root 9, refers to that the other end of root 9 and the back segment of finger tip 10 are rotatedly connected;
Described kinematic link 11 one end and housing 6 are rotatedly connected, and the other end of kinematic link 11 is also rotatedly connected with the inner side of finger tip 10 back segments;
Described housing 6, refer to that root 9, finger tip 10, kinematic link 11 forms four connecting rods, when referring to root 9 flexing, finger tip 10 is with respect to referring to root flexing.
Described thumb 1-1 has rotation and bends and stretches the free degree; Described thumb 1-1 is connected in machine palm 3 by the quiet housing 12 of thumb;
Described thumb 1-1 comprises that the quiet housing 12 of thumb, thumb electric rotating machine 13, thumb rotation worm and gear 14, thumb bend and stretch motor 15, the moving housing 16 of thumb, thumb and bend and stretch worm and gear 17;
Described thumb electric rotating machine 13 is connected with a side of the quiet housing 12 of thumb, for driving the rotary freedom of thumb 1-1;
Described thumb rotation worm and gear 14 is installed in the quiet housing 12 of thumb, and this thumb rotation worm and gear 14 is connected with the output shaft of thumb electric rotating machine 13;
Described thumb bends and stretches motor 15 and is connected with the opposite side of the quiet housing 12 of thumb, for driving the free degree of bending and stretching of thumb 1-1;
The moving housing 16 of described thumb is connected with the worm gear of thumb rotation worm and gear 14, for rotating along thumb 1-1 direction of rotation;
Described thumb bends and stretches worm and gear 17 and is installed in the moving housing 16 of thumb, and the worm screw that this thumb bends and stretches worm and gear 17 is bent and stretched motor 15 with thumb and is connected;
The root of described thumb 1-1 is connected with the worm gear that thumb bends and stretches worm and gear 17, and thumb 1-1 is with respect to moving housing 16 rotations of thumb.
With respect to prior art, tool of the present invention has the following advantages and beneficial effect:
Multiple degrees of freedom bionic mechanical hand of the present invention, provides a prosthetic hand with 5 fingers, 10 frees degree to patient, and by owing driving, every finger is used two of an Electric Machine Control to bend and stretch the free degree, and thumb has rotation and bends and stretches the free degree.
Multiple degrees of freedom bionic mechanical hand technological means of the present invention is simple and easy to do, controls flexibly, by can be in limited space providing and clench fist, hold key, hold the abundant finger motion ability such as ball to patient with computer control.
Accompanying drawing explanation
Fig. 1 is that multiple degrees of freedom bionic mechanical hand of the present invention fills chlamydate structural representation;
Fig. 2 is that Fig. 1 removes the structural representation after shell;
Fig. 3 is in Fig. 1: the axonometric drawing structural representation of forefinger 1-2, middle finger 1-3, nameless 1-4, little finger of toe 1-5;
Fig. 4 is Fig. 3 side view structural representation;
Fig. 5 is the structural representation of thumb 1-1 shown in Fig. 2;
The specific embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1 and Figure 2.Multiple degrees of freedom bionic mechanical hand of the present invention, comprises machine palm matrix 3, five fingers that are connected with machine palm matrix 3, and these five fingers comprise thumb 1-1, forefinger 1-2, middle finger 1-3, nameless 1-4, little finger of toe 1-5 successively; The outside of described machine palm matrix 3 is coated with shell 2, for sheltering from motor internal and drive disk assembly.
Identical and the every finger of these four finger structures of described forefinger 1-2, middle finger 1-3, nameless 1-4 and little finger of toe 1-5 has separately two and bends and stretches the free degree.
As shown in Figure 3, Figure 4.In these four fingers every finger comprise be provided with motor 7 and transmission worm and gear 8 housing 6, refer to root 9, finger tip 10, kinematic link 11.
As shown in Figure 3, Figure 4.One end of described transmission worm and gear 8 is connected with the output shaft of motor 7, and the other end of transmission worm and gear 8 is rotatedly connected with the one end that refers to root 9, refers to that the other end of root 9 and the back segment of finger tip 10 are rotatedly connected.
As shown in Figure 3, Figure 4.Described kinematic link 11 one end and housing 6 are rotatedly connected, and the other end of kinematic link 11 is also rotatedly connected with the inner side of finger tip 10 back segments.
As shown in Figure 3, Figure 4.Described housing 6, refer to that root 9, finger tip 10, kinematic link 11 forms four connecting rods, when referring to root 9 flexing, finger tip 10 is with respect to referring to root flexing.
As shown in Figure 5.Described thumb 1-1 has rotation and bends and stretches the free degree; Described thumb 1-1 is connected in machine palm 3 by the quiet housing 12 of thumb.
As shown in Figure 5.Described thumb 1-1 comprises that the quiet housing 12 of thumb, thumb electric rotating machine 13, thumb rotation worm and gear 14, thumb bend and stretch motor 15, the moving housing 16 of thumb, thumb and bend and stretch worm and gear 17;
As shown in Figure 5.Described thumb electric rotating machine 13 is connected with a side of the quiet housing 12 of thumb, for driving the rotary freedom of thumb 1-1;
As shown in Figure 5.Described thumb rotation worm and gear 14 is installed in the quiet housing 12 of thumb, and this thumb rotation worm and gear 14 is connected with the output shaft of thumb electric rotating machine 13;
As shown in Figure 5.Described thumb bends and stretches motor 15 and is connected with the opposite side of the quiet housing 12 of thumb, for driving the free degree of bending and stretching of thumb 1-1;
As shown in Figure 5.The moving housing 16 of described thumb is connected with the worm gear of thumb rotation worm and gear 14, for rotating along thumb 1-1 direction of rotation;
As shown in Figure 5.Described thumb bends and stretches worm and gear 17 and is installed in the moving housing 16 of thumb, and the worm screw that this thumb bends and stretches worm and gear 17 is bent and stretched motor 15 with thumb and is connected;
As shown in Figure 5.The root of described thumb 1-1 is connected with the worm gear that thumb bends and stretches worm and gear 17, and thumb 1-1 is with respect to moving housing 16 rotations of thumb.
This multiple degrees of freedom bionic mechanical hand, provides a prosthetic hand with 5 fingers, 10 frees degree to patient, and by owing driving, every finger is used two of an Electric Machine Control to bend and stretch the free degree, and thumb has rotation and bends and stretches the free degree.
Just can realize preferably the present invention as mentioned above.
Above-described embodiment is better embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from the change of doing under Spirit Essence of the present invention and principle and should be equivalent substitute mode, is included in protection scope of the present invention.
Claims (3)
1. a multiple degrees of freedom bionic mechanical hand, comprise machine palm matrix (3), five fingers that are connected with machine palm matrix (3), these five fingers comprise thumb (1-1), forefinger (1-2), middle finger (1-3), nameless (1-4), little finger of toe (1-5) successively, it is characterized in that:
Described forefinger (1-2), middle finger (1-3), nameless (1-4) and every piece finger identical with these four finger structures of little finger of toe (1-5) has separately two and bends and stretches the free degree;
In these four fingers every finger comprise be provided with motor (7) and transmission worm and gear (8) housing (6), refer to root (9), finger tip (10), kinematic link (11);
One end of described transmission worm and gear (8) is connected with the output shaft of motor (7), and the other end of transmission worm and gear (8) is rotatedly connected with the one end that refers to root (9), refers to that the other end of root (9) and the back segment of finger tip (10) are rotatedly connected;
Described kinematic link (11) one end and housing (6) are rotatedly connected, and the other end of kinematic link (11) is also rotatedly connected with the inner side of finger tip (10) back segment;
Described housing (6), refer to that root (9), finger tip (10), kinematic link (11) form four connecting rods, when referring to root (9) flexing, finger tip (10) is with respect to referring to root flexing.
2. multiple degrees of freedom bionic mechanical hand according to claim 1, is characterized in that: described thumb (1-1) has rotation and bends and stretches the free degree; Described thumb (1-1) is connected in machine palm (3) by the quiet housing of thumb (12);
Described thumb (1-1) comprises that the quiet housing of thumb (12), thumb electric rotating machine (13), thumb rotation worm and gear (14), thumb bend and stretch motor (15), the moving housing (16) of thumb, thumb and bend and stretch worm and gear (17);
Described thumb electric rotating machine (13) is connected with a side of the quiet housing of thumb (12), for driving the rotary freedom of thumb (1-1);
Described thumb rotation worm and gear (14) is installed in the quiet housing of thumb (12), and this thumb rotation worm and gear (14) is connected with the output shaft of thumb electric rotating machine (13);
Described thumb bends and stretches motor (15) and is connected with the opposite side of the quiet housing of thumb (12), for driving the free degree of bending and stretching of thumb (1-1);
Described thumb moves housing (16) and is connected with the worm gear of thumb rotation worm and gear (14), for rotating along thumb (1-1) direction of rotation;
Described thumb bends and stretches worm and gear (17) and is installed in the moving housing (16) of thumb, and the worm screw that this thumb bends and stretches worm and gear (17) is bent and stretched motor (15) with thumb and is connected;
The root of described thumb (1-1) is connected with the worm gear that thumb bends and stretches worm and gear (17), and thumb (1-1) rotates with respect to the moving housing of thumb (16).
3. multiple degrees of freedom bionic mechanical hand according to claim 1, is characterized in that: the outside of described machine palm matrix (3) is coated with shell (2).
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| CN201310476562.9A CN103538077B (en) | 2013-10-12 | 2013-10-12 | A kind of multiple degrees of freedom bionic mechanical hand |
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| CN201310476562.9A CN103538077B (en) | 2013-10-12 | 2013-10-12 | A kind of multiple degrees of freedom bionic mechanical hand |
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| CN103538077B CN103538077B (en) | 2016-05-04 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104586608A (en) * | 2015-02-05 | 2015-05-06 | 华南理工大学 | Wearable assistance finger based on myoelectric control and control method thereof |
| CN104786219A (en) * | 2015-04-16 | 2015-07-22 | 浙江理工大学 | 360-degree multi-degree-of-freedom human-simulated pneumatic muscle mechanical arm |
| CN105082168A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Palm of two-dimensional thumb bionic hand |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN110640774A (en) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| WO2020019992A1 (en) * | 2018-07-26 | 2020-01-30 | 深圳市心流科技有限公司 | Finger module and artificial limb |
| WO2020082529A1 (en) * | 2018-10-24 | 2020-04-30 | 五邑大学 | Method for fabricating rigid/flexible coupling bionic manipulator arm and fingers thereof |
| CN111390943A (en) * | 2020-03-11 | 2020-07-10 | 北京海益同展信息科技有限公司 | Thumb rotating mechanism, bionic hand and bionic robot |
| WO2020147724A1 (en) * | 2019-01-15 | 2020-07-23 | 浙江强脑科技有限公司 | Finger and prosthesis |
| RU2769584C1 (en) * | 2020-12-26 | 2022-04-04 | Зиновенко Егор Владимирович | Exoskeleton manipulation module, gripping apparatus of the exoskeleton manipulation module, finger of the gripping apparatus of the exoskeleton manipulation module |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104586608A (en) * | 2015-02-05 | 2015-05-06 | 华南理工大学 | Wearable assistance finger based on myoelectric control and control method thereof |
| CN104786219A (en) * | 2015-04-16 | 2015-07-22 | 浙江理工大学 | 360-degree multi-degree-of-freedom human-simulated pneumatic muscle mechanical arm |
| CN104786219B (en) * | 2015-04-16 | 2016-05-25 | 浙江理工大学 | 360 degree multiple degrees of freedom apery pneumatic muscles manipulators |
| CN105082168A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Palm of two-dimensional thumb bionic hand |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| WO2020019992A1 (en) * | 2018-07-26 | 2020-01-30 | 深圳市心流科技有限公司 | Finger module and artificial limb |
| WO2020082529A1 (en) * | 2018-10-24 | 2020-04-30 | 五邑大学 | Method for fabricating rigid/flexible coupling bionic manipulator arm and fingers thereof |
| WO2020147724A1 (en) * | 2019-01-15 | 2020-07-23 | 浙江强脑科技有限公司 | Finger and prosthesis |
| CN110640774A (en) * | 2019-10-22 | 2020-01-03 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| CN110640774B (en) * | 2019-10-22 | 2021-10-29 | 上海理工大学 | Six-degree-of-freedom five-finger manipulator |
| CN111390943A (en) * | 2020-03-11 | 2020-07-10 | 北京海益同展信息科技有限公司 | Thumb rotating mechanism, bionic hand and bionic robot |
| RU2769584C1 (en) * | 2020-12-26 | 2022-04-04 | Зиновенко Егор Владимирович | Exoskeleton manipulation module, gripping apparatus of the exoskeleton manipulation module, finger of the gripping apparatus of the exoskeleton manipulation module |
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