CN104400792A - Under-actuated finger capable of being flexibly coupled between joints - Google Patents
Under-actuated finger capable of being flexibly coupled between joints Download PDFInfo
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- CN104400792A CN104400792A CN201410557059.0A CN201410557059A CN104400792A CN 104400792 A CN104400792 A CN 104400792A CN 201410557059 A CN201410557059 A CN 201410557059A CN 104400792 A CN104400792 A CN 104400792A
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Abstract
The invention discloses an under-actuated finger capable of being flexibly coupled between joints. The finger takes pulleys as main components; transmission mechanisms in the finger are sequentially wound on various pulleys of the finger by virtue of a tensioning rope and anti-loose rope, and comprise two coupling springs and stay cords between finger knuckles, thus multi-freedom movement of the fingers is finished by one input. Through the under-actuated finger, a finger body cooperates with the transmission mechanisms in the finger to form the under-actuated finger; the adaptive ability during grabbing can be accurately achieved; meanwhile, the finger is suitable for prosthetic hand instruments in various complicated application environments due to embedded flexibility of the finger.
Description
Technical field
The invention belongs to medical apparatus and instruments technical field, more specifically, relate to a kind of under-actuated finger closing internode flexible couplings.
Background technology
Finger is the element of prosthetic hand, and can the function of the prosthetic hand that the quality that finger designs directly determines realize.Finger designs and can complete except various crawl task except wanting, and the outward appearance of prosthetic hand and volume also should be made to try one's best close with staff, and the crawl can enriched with the less physiological signal control realization that can obtain at present and operating function.This proposes basic demand with regard to the design pointed for artificial limb: few drive source drives the multi-joint suitable with staff to point, and realizes anthropomorphic outward appearance and grasping manipulation function.
To this, in prior art, some solutions are proposed.Such as, three the articular couple motions of Hispanic MANUS-HAND artificial limb finger employing driver drives, although this finger decreases driving number, finger does not have compliance, can not comply with body form and realize anthropomorphic crawl in crawl process.The connecting rod under-actuated finger of Gosselin research team of Canada development has good compliability and enough large grasp force, but this finger mechanism is too large, cannot be embedded in artificial limb, and this finger there will be unusual attitude in crawl.In addition, the up-to-date finger be integrated in the five fingers apery hand that have developed of domestic Harbin Institute of Technology and German Aerospace Center only needs a drive source, but its grasp mode is single, adaptive crawl can not be completed, this method can be brought and make it control difficulty increase, and the feature of control circuit complexity many with sensor, is thus difficult to meet the requirement of the aspects such as the light and manipulation of prosthetic hand is convenient.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of under-actuated finger closing internode flexible couplings, wherein by its key component as each internal structure pointed and finger in transmission mechanism and structure and set-up mode improve, one only should be able to be adopted mutually to input and just can control to point three degree of freedom, reproduction staff dynamic coordinate rule, the accurate adaptive ability realized when capturing, the simultaneously compliance of its built-in type prosthetic hand apparatus that makes this finger be applicable at all kinds of complicated applications environment.
For achieving the above object, according to the present invention, provide a kind of under-actuated finger closing internode flexible couplings, these fingers are for possessing mutually isostructural thumb, forefinger, middle finger, the third finger and little finger of toe, direction near palm is defined as near-end, and be defined as far-end away from the direction of palm, then each finger from the close-by examples to those far off comprises metacarpophalangeal joints assembly, nearly dactylus assembly, dactylus assembly far away and middle finger joint respectively, it is characterized in that:
Described metacarpophalangeal joints assembly comprises metacarpophalangeal joints, is horizontally installed on the metacarpophalangeal joints connecting axle of this metacarpophalangeal joints proximal end, the first pulley be arranged between two parties along finger axial direction on this metacarpophalangeal joints connecting axle, be horizontally installed on the first rotating shaft of this metacarpophalangeal joints far-end, and is arranged on the second pulley on described first rotating shaft between two parties along finger axial direction; Described nearly dactylus assembly comprises the nearly dactylus be connected with described metacarpophalangeal joints far-end, the second rotating shaft being horizontally installed on this nearly dactylus far-end, and is arranged on the 3rd pulley on described second rotating shaft between two parties along finger axial direction; Described dactylus assembly far away comprises dactylus far away, is horizontally installed on the 3rd rotating shaft of this dactylus proximal end far away, the 4th pulley be arranged between two parties along finger axial direction on described 3rd rotating shaft, and is set in the finger tip far away of dactylus far-end far away; Described middle finger joint in the cylindrical structure of one, and can be connected with dactylus far away with described nearly dactylus respectively bendingly relatively at its two ends;
In addition, in the inside of above-mentioned five fingers, correspondence is provided with transmission mechanism in finger respectively, in this finger, transmission mechanism comprises the driving rope be connected with described first pulley separately, be wrapped in described first pulley successively, second pulley, tensioned lines on 3rd pulley and the 4th pulley, be arranged symmetrically with described tensioned lines and jointly simulate with it finger tendon loosen rope, be arranged on the nearly dactylus coupling spring between described second pulley and the 3rd pulley, and the middle finger joint coupling spring be arranged between described 3rd pulley and the 4th pulley, wherein, one end of this nearly dactylus coupling spring adopts the first nearly dactylus tensioned rope to be connected, and described metacarpophalangeal joints are fixed in other one end of this first nearly dactylus tensioned rope, other one end of this nearly dactylus coupling spring adopts the second nearly dactylus tensioned rope to be connected, and described middle finger joint is fixed in other one end of this second nearly dactylus tensioned rope, in addition, one end of this middle finger joint coupling spring adopts the first middle finger joint tensioned rope to be connected, and described nearly dactylus is fixed in other one end of this first middle finger joint tensioned rope, other one end of this middle finger joint coupling spring adopts the second middle finger joint tensioned rope to be connected, and described dactylus far away is fixed in other one end of this second middle finger joint tensioned rope.
As further preferably, the dactylus place of each finger is preferably also provided with mechanical position limitation mechanism, what wherein metacarpophalangeal joints, nearly dactylus, middle finger joint and dactylus far away were positioned at the back of the hand one side is boss structure, and be positioned at palm of the hand one side in globoidal structure, guarantee that each dactylus can to bending 90 degree of the palm of the hand thus.
As further preferably, inside of each finger is preferably provided with transmission mechanism in the described finger of two covers, and in this two covers finger, the transmission mechanism corresponding both sides being arranged on finger respectively, complete the adaptation function of finger thus jointly.
In described finger, transmission mechanism includes four transmission groups jointly, wherein the first transmission group of forming of the nearly dactylus coupling spring of each freedom and middle finger joint coupling spring and the adaptive ability of the 4th transmission group jointly for pointing, and being bent by what loosen that the second transmission group that rope and tensioned lines form and the 3rd transmission group be respectively used to point and being stretched respectively.
In general, the above technical scheme conceived by the present invention compared with prior art, mainly possesses following technological merit:
1, the present invention's coordinating by pulley and steel wire rope, completed the bending of finger by active drive and stretched, thus reach the object of drive lacking, complete the control that an input source realizes three degree of freedom, just can realize the motion that a motor realizes a finger in this way, and effectively reappear staff dynamic coordinate rule;
2, by the distortion of two groups of coupling springs, realize the adaptive ability of finger after touching object, point unnecessary stroke absorb by the distortion of spring, thus can complete the self adaptation to various body form, and contribute to the accuracy improving grasping movement further;
3, be coupled by three flexibility of joint by two groups of springs, adopt minimum elastic restraint to limit the freely-movable of finger, make the freely-movable state of finger before contact object cause camber of spring, this layout of spring makes the energy consumption of finger minimum;
4, compared with prior art can realize the adaptive motion pointed while not increasing number of motors according to the prosthetic hand finger constructed by the present invention, and it is little to possess volume, compact conformation easily controls, and apery degree high, is thus particularly useful for the field of prosthetic hand manual therapy apparatus.
Accompanying drawing explanation
Fig. 1 is the structural representation according to finger body of the present invention;
Fig. 2 is the structural representation of two groups of coupling springs according to the preferred embodiment of the present invention and transmission system thereof;
Fig. 3 is for showing the structure sectional view loosening rope and transmission system thereof;
Fig. 4 is the structure sectional view for showing tensioned lines and transmission system thereof;
Fig. 5 is the structural representation of other two groups of coupling springs for being used in combination with Fig. 2 and transmission system thereof;
Fig. 6 is the structural representation for showing according to finger actuation rope of the present invention;
Fig. 7 is for showing the schematic diagram performing flexure operation according to under-actuated finger of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
Fig. 1 is the overall structure schematic diagram according to drive lacking artificial limb finger of the present invention.This under-actuated finger comprises thumb, forefinger, middle finger, the third finger and little finger of toe, as shown in fig. 1, this drive lacking prosthetic hand finger body from the close-by examples to those far off comprises finger metacarpophalangeal joints successively, points nearly dactylus, points middle finger joint, points dactylus far away and point finger tip far away, define us according to human anatomy and will be called near-end near volar direction, be called far-end away from volar direction.
Specifically, for metacarpophalangeal joints assembly, it comprises metacarpophalangeal joints 1, be horizontally installed on the metacarpophalangeal joints connecting axle 2 of this metacarpophalangeal joints 1 proximal end, the first pulley 3 be arranged between two parties along finger axial direction on this metacarpophalangeal joints connecting axle 2, be horizontally installed on the first rotating shaft 4 of this metacarpophalangeal joints 1 far-end, and is arranged on the second pulley 5 on the first rotating shaft 4 between two parties along finger axial direction; Metacarpophalangeal joints connecting axle 2, first rotating shaft 4 is for example fixed by bearing with metacarpophalangeal joints 1, relatively can rotate thus and bend at metacarpophalangeal joints 1 place.
Nearly dactylus assembly comprises the nearly dactylus 6 be connected with metacarpophalangeal joints 1 far-end, the second rotating shaft 7 being horizontally installed on this nearly dactylus 6 far-end, and is arranged on the 3rd pulley 8 on the second rotating shaft 7 between two parties along finger axial direction; Wherein the second rotating shaft 7 is for example fixed by bearing with the nearly dactylus 1 of finger, can relatively rotate thus; Dactylus assembly far away comprises dactylus 10 far away, is horizontally installed on the 3rd rotating shaft 11 of this dactylus 10 proximal end far away, the 4th pulley 12 be arranged between two parties along finger axial direction on the 3rd rotating shaft 11, and is set in the finger tip far away 13 of dactylus 10 far-end far away; Middle finger joint 9 for example in cylindrical structure, and can be connected with dactylus 10 far away with described nearly dactylus 6 respectively bendingly relatively at its two ends.
Above-mentioned finger metacarpophalangeal joints, point nearly dactylus, point middle finger joint, point dactylus far away refer between all have rotating shaft to fix, ensure that certain dactylus can rotate relative to other dactylus, each joint pulley is arranged symmetrically with all between two parties in addition.
As one of key improvements of the present invention, as shown in Figure 2, in the inside of above-mentioned five fingers, correspondence is provided with transmission mechanism in finger respectively.In this finger transmission mechanism comprise separately be connected with described first pulley 3 driving rope 37, be wrapped in tensioned lines 26 on the first pulley 3, second pulley 5, the 3rd pulley 8 and the 4th pulley 18 and described tensioned lines 26 successively and be arranged symmetrically with and jointly simulate with it loosening rope 24, being arranged on nearly dactylus coupling spring 16 between the second pulley 5 and the 3rd pulley 8 of finger tendon, and be arranged on the middle finger joint coupling spring 17 between the 3rd pulley 8 and the 4th pulley 12; In this way, for each finger constitutes the first transmission group.
More specifically, the first transmission group comprises the fixing steel ball 18 of the first fixing steel ball 14, first coupling spring tension rope 15, first coupling spring 16, second coupling spring tension rope 17, second, the 3rd fixing steel ball 19, the 3rd coupling spring tension rope 20, second coupling spring 21, the 4th coupling spring tension rope 22, the 4th fixing steel ball 23; Wherein the first coupling spring tension rope 15 near-end is for example fixed on metacarpophalangeal joints 1 by the first fixing steel ball 14, then the circular arc on metacarpophalangeal joints 1 is walked around, the other end is connected with the first coupling spring 16 near-end, first coupling spring 16 far-end is connected with the second coupling spring tension rope 17, and the second coupling spring tension rope 17 is for example fixed on finger middle finger joint 9 by the second fixing steel ball 18 after walking around the circular arc on the nearly dactylus 6 of finger; Similarly, 3rd coupling spring tension rope 20 near-end is for example fixed on the nearly dactylus 6 of finger by the 3rd fixing steel ball 19, be connected with the second coupling spring 21 near-end after walking around the circular arc on the nearly dactylus 6 of finger, second coupling spring 21 far-end is connected with the 4th coupling spring tension rope 22 near-end, 4th coupling spring tension rope 22 after walking around the circular arc on finger dactylus 10 far away, such as is fixed on finger dactylus 10 far away by the 4th fixing steel ball 23.
In addition, for preventing finger hyper-extended when resetting, mechanical limit structure is provided with at each dactylus place, wherein the contact site of metacarpophalangeal joints, nearly dactylus, middle finger joint, dactylus far away is boss in the back of the hand one side entirely, and be circular arc in palm of the hand one side, ensure that each dactylus can to palm of the hand 90-degree bent, and can not back-flexing.
As shown in Figure 3, show the structure sectional view loosening rope and transmission system thereof, which constitute the second transmission group of each finger interior.Specifically, second transmission group comprises and loosens rope 24, the 5th fixing steel ball 25, wherein loosening rope 24 near-end is fixed in the first pulley 3 by screw, be wrapped on the second pulley 5, the 3rd pulley 8, the 4th pulley 12 after walking around one in the first pulley 3 three grooves successively, last being for example fixed on by the 5th fixing steel ball 25 is pointed on dactylus 10 far away.
As shown in Figure 4, show the structure sectional view of tensioned lines and transmission system thereof, which constitute the 3rd transmission group of each finger interior.Specifically, 3rd transmission group comprises tensioned lines 26, the 6th fixing steel ball 27, wherein tensioned lines 26 is fixed in the first pulley 3 by screw, finally for example be fixed on finger dactylus 10 far away by the 6th fixing steel ball 27 walking around in the first pulley 3 three grooves to be wrapped in successively after a groove placed in the middle on second pulley 5, the 3rd pulley 8, the 4th pulley 12, wherein the second pulley 5, the 3rd pulley 8, the 4th pulley 12 have two wire casings to be respectively to loosen rope 24 respectively, tensioned lines 26 is used.
According to the preferred embodiment of the present invention, the inside of each finger is preferably provided with transmission mechanism in the described finger of two covers, and in this two covers finger, the transmission mechanism corresponding both sides being arranged on finger respectively, complete the adaptation function of finger thus jointly.In this other a set of finger the structure of transmission mechanism and set-up mode identical with Fig. 2, and constitute the 4th transmission group of each finger interior.
Specifically form, as shown in Figure 5,4th transmission group comprises the 7th fixing steel ball (failing in figure to mark), the 5th coupling spring tension rope 28, the 3rd coupling spring 29, the 6th coupling spring tension rope 30, the 8th fixing steel ball 31, the 9th fixing steel ball 32, the 7th coupling spring tension rope 33, the 4th coupling spring 34, the 8th coupling spring tension rope 35, the tenth fixing steel ball 36, wherein the layout of the 4th transmission group is identical with the first transmission group, be arranged on respectively with the first transmission group and point both sides, jointly complete the adaptation function of finger.
In addition, as shown in Figure 6, the driving rope 37 in finger, one end is from drive source, and the other end is fixed in the wire casing of the first pulley 2 in order to provide finger power.
Process when specific explanations being performed flexure operation according to under-actuated finger of the present invention below.
See Fig. 7, the detailed process of each finger movement is as follows: drive rope 37 to drive the first pulley 3 to rotate, tensioned lines 26 tensioning and anti-slack rope 24 are stretched, nearly dactylus, middle finger joint and dactylus far away are rotated and Compress Spring around the first rotating shaft 4, second rotating shaft 7 and the 3rd rotating shaft 11 respectively, complete grasping movement, after finger touches object, the coupling spring in finger starts the adaptation function that stretching absorption overtravel completes finger; When finger stretches in addition, make to be started to reset by the spring compressed to drive nearly dactylus, middle finger joint and dactylus far away to reversely rotate owing to lacking driving force, complete homing action.Rope for example can select the steel wire rope of CarlStahl, and the supporting retaining element of end is fixed.
In sum, drive finger to carry out bending and stretching by pulley, the motion of multiple free degree can be completed like this by an input, add being arranged symmetrically with of two groups of coupling springs, complete the adaptation function of under-actuated finger with this.Therefore drive lacking prosthetic hand finger provided by the present invention, can be close with staff on volume weight, and shape is similar, and high simultaneously can the realization of apery degree points the crawl to object, is convenient to control, is thus particularly useful for medical machinery field.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. one kind closes the under-actuated finger of internode flexible couplings, these fingers are for possessing mutually isostructural thumb, forefinger, middle finger, the third finger and little finger of toe, direction near palm is defined as near-end, and be defined as far-end away from the direction of palm, then each finger from the close-by examples to those far off comprises metacarpophalangeal joints assembly, nearly dactylus assembly, dactylus assembly far away and middle finger joint respectively, it is characterized in that:
Described metacarpophalangeal joints assembly comprises metacarpophalangeal joints, is horizontally installed on the metacarpophalangeal joints connecting axle of this metacarpophalangeal joints proximal end, the first pulley be arranged between two parties along finger axial direction on this metacarpophalangeal joints connecting axle, be horizontally installed on the first rotating shaft of this metacarpophalangeal joints far-end, and is arranged on the second pulley on described first rotating shaft between two parties along finger axial direction; Described nearly dactylus assembly comprises the nearly dactylus be connected with described metacarpophalangeal joints far-end, the second rotating shaft being horizontally installed on this nearly dactylus far-end, and is arranged on the 3rd pulley on described second rotating shaft between two parties along finger axial direction; Described dactylus assembly far away comprises dactylus far away, is horizontally installed on the 3rd rotating shaft of this dactylus proximal end far away, the 4th pulley be arranged between two parties along finger axial direction on described 3rd rotating shaft, and is set in the finger tip far away of dactylus far-end far away; Described middle finger joint in the cylindrical structure of one, and can be connected with dactylus far away with described nearly dactylus respectively bendingly relatively at its two ends;
In addition, in the inside of above-mentioned five fingers, correspondence is provided with transmission mechanism in finger respectively, in this finger, transmission mechanism comprises the driving rope be connected with described first pulley separately, be wrapped in described first pulley successively, second pulley, tensioned lines on 3rd pulley and the 4th pulley, be arranged symmetrically with described tensioned lines and jointly simulate with it finger tendon loosen rope, be arranged on the nearly dactylus coupling spring between described second pulley and the 3rd pulley, and the middle finger joint coupling spring be arranged between described 3rd pulley and the 4th pulley, wherein, one end of this nearly dactylus coupling spring adopts the first nearly dactylus tensioned rope to be connected, and described metacarpophalangeal joints are fixed in other one end of this first nearly dactylus tensioned rope, other one end of this nearly dactylus coupling spring adopts the second nearly dactylus tensioned rope to be connected, and described middle finger joint is fixed in other one end of this second nearly dactylus tensioned rope, in addition, one end of this middle finger joint coupling spring adopts the first middle finger joint tensioned rope to be connected, and described nearly dactylus is fixed in other one end of this first middle finger joint tensioned rope, other one end of this middle finger joint coupling spring adopts the second middle finger joint tensioned rope to be connected, and described dactylus far away is fixed in other one end of this second middle finger joint tensioned rope.
2. under-actuated finger as claimed in claim 1, it is characterized in that, the dactylus place of each finger is preferably also provided with mechanical position limitation mechanism, what wherein metacarpophalangeal joints, nearly dactylus, middle finger joint and dactylus far away were positioned at the back of the hand one side is boss structure, and be positioned at palm of the hand one side in globoidal structure, guarantee that each dactylus can to bending 90 degree of the palm of the hand thus.
3. under-actuated finger as claimed in claim 1 or 2, it is characterized in that each inside pointed preferably is provided with transmission mechanism in the described finger of two covers, in this two covers finger, the transmission mechanism corresponding both sides being arranged on finger respectively, complete the adaptation function of finger thus jointly.
4. the under-actuated finger as described in claim 1-3 any one, it is characterized in that, in described finger, transmission mechanism includes four transmission groups jointly, wherein the first transmission group of forming of the nearly dactylus coupling spring of each freedom and middle finger joint coupling spring and the adaptive ability of the 4th transmission group jointly for pointing, and being bent by what loosen that the second transmission group that rope and tensioned lines form and the 3rd transmission group be respectively used to point and being stretched respectively.
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| CN201410557059.0A CN104400792B (en) | 2014-10-20 | 2014-10-20 | A kind of under-actuated finger closing internode flexible couplings |
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| CN201410557059.0A CN104400792B (en) | 2014-10-20 | 2014-10-20 | A kind of under-actuated finger closing internode flexible couplings |
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| CN104400792B CN104400792B (en) | 2015-10-28 |
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| CN105619440A (en) * | 2016-03-17 | 2016-06-01 | 清华大学 | Open-chain flexible component parallel clamping type adaptive robot finger device |
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| CN105619440B (en) * | 2016-03-17 | 2018-07-06 | 清华大学 | Open chain flexible piece puts down folder adaptive robot finger apparatus |
| CN106618967A (en) * | 2017-01-25 | 2017-05-10 | 东北大学 | Novel portable hand exoskeleton recovery device |
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| CN107214721A (en) * | 2017-07-27 | 2017-09-29 | 深圳市大寰机器人科技有限公司 | A kind of parallel robot delicate adaptively grasped |
| CN107214721B (en) * | 2017-07-27 | 2019-08-23 | 深圳市大寰机器人科技有限公司 | A kind of robot delicate adaptively grasped in parallel |
| CN107901032B (en) * | 2017-09-26 | 2020-11-20 | 南京航空航天大学 | Friction-free rope-driven passive decoupling mechanism and decoupling antifriction method thereof |
| CN107901032A (en) * | 2017-09-26 | 2018-04-13 | 南京航空航天大学 | Friction free rope drives passive de-coupling mechanism and its decoupling antifriction method |
| CN109109001A (en) * | 2018-07-25 | 2019-01-01 | 宁波市智能制造产业研究院 | A kind of manipulator restoring magic square |
| CN110116420A (en) * | 2019-05-29 | 2019-08-13 | 浙江大学 | Bionic mechanical hand |
| CN110116420B (en) * | 2019-05-29 | 2021-08-31 | 浙江大学 | Bionic mechanical arm |
| CN111015644A (en) * | 2019-12-24 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
| CN111015644B (en) * | 2019-12-24 | 2022-10-25 | 中国科学院沈阳自动化研究所 | Rope drives formula arm based on coupling linkage |
| CN111496828A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Bionic under-actuated gripper with flexible tail end of robot |
| CN114131644A (en) * | 2020-11-12 | 2022-03-04 | 深圳市优必选科技股份有限公司 | Mechanical arm |
| CN112518781A (en) * | 2020-11-26 | 2021-03-19 | 杭州萤石软件有限公司 | Manipulator and mechanical finger thereof |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
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