CN102896639A - Thumb mechanism of artificial hand - Google Patents
Thumb mechanism of artificial hand Download PDFInfo
- Publication number
- CN102896639A CN102896639A CN2012100595501A CN201210059550A CN102896639A CN 102896639 A CN102896639 A CN 102896639A CN 2012100595501 A CN2012100595501 A CN 2012100595501A CN 201210059550 A CN201210059550 A CN 201210059550A CN 102896639 A CN102896639 A CN 102896639A
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- China
- Prior art keywords
- thumb
- knuckle
- turning cylinder
- worm
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
The invention relates to a thumb mechanism of an artificial hand, in particular to a thumb mechanism of a humanoid hand and aims to solve the problem that a thumb of each of most existing artificial hand moves for grasp in one direction only. Rotation of a thumb of the thumb mechanism is achieved by worm-gear transmission. A function of bending for grasp is achieved for the thumb by worm-gear transmission and bevel gear transmission. A first knuckle and a second knuckle of the thumb are under-actuated by a plane four-bar mechanism. The thumb mechanism has the advantages that the thumb can rotate, bend for grasp and spatially move in a complex way during grasp motion of the thumb, the function of omnidirectional grasp can be achieved for the thumb, and various motion functions of a thumb of a human hand are achieved for the thumb of the thumb mechanism; a transmission mechanism of the thumb is in worm-gear transmission and has the self-locking function, and grasp torque of the thumb can be maintained after power failure of a motor; and the thumb mechanism is simple in structure, flexible to move, convenient to control, light in weight, small in size and large in thumb grasp strength.
Description
Technical field
The present invention relates to a kind of thumb mechanism of manually doing evil through another person
Background technology
The forms of motion of thumb is one of principal element that affects the grip function of manually doing evil through another person, and the existing most thumb of doing evil through another person all only has the grip function of a direction.Such thumb must be perpendicular to the palm setting of doing evil through another person, no matter all with the thumb of true man's staff very large gap is arranged in appearance or on function, do evil through another person and make for this reason a lot of disabled persons that need installation to do evil through another person all be reluctant to use, thereby hindered the popularization and application of doing evil through another person.Although some related researchers have also designed several thumb mechanisms with space grip function recently, these structures have mostly: complex structure, the thumb space is certain and can not realize the function of multi-faceted grasping.
Summary of the invention
The objective of the invention is to only have a direction grasping movement or have the problem of the space grasping movement of fixation locus for solving the existing most thumb of doing evil through another person, a kind of thumb mechanism of manually doing evil through another person is provided.The present invention has simple in structure, and is reliable, flexible, and thumb can be realized the characteristics of multi-faceted grip function.
A kind of thumb mechanism of manually doing evil through another person of the present invention's design comprises thumb rotating mechanism, thumb bending grasping mechanism and thumb lack of driven structure.
Described thumb rotating mechanism comprises thumb turning cylinder 3, pad 4, worm gear 6, worm screw 5, motor 7, cross connector 15, first knuckle turning cylinder 16, thumb turning cylinder 3 is affixed with worm gear 6, worm gear 6 is carried out the turbine and worm transmission with worm screw 5, worm screw 5 is affixed with motor 7 axles, (3 is affixed with cross connector 15, and cross connector 15 is horizontally hinged with first knuckle turning cylinder 16 for the thumb turning cylinder.
Described thumb bending grasping mechanism comprises: worm gear 9, worm screw 10, motor 11, pad 8, sleeve 12, active conical gear 13, driven bevel gear 14, first knuckle turning cylinder 16, cross connector 15, worm gear 9 is carried out Worm Wheel System with worm screw 10, worm screw 10 is affixed with motor shaft 11, worm gear 9 is affixed with sleeve 12, sleeve 12 is with initiatively conical gear 13 is affixed, sleeve 12 is vertically hinged with thumb rotating spindle 3, initiatively conical gear 13 is carried out Bevel Gear Drive with driven bevel gear 14, driven bevel gear 14 is affixed with first knuckle power transmission shaft 16,, first knuckle turning cylinder 16 is horizontally hinged with cross connector 15.
Described thumb rotating mechanism and thumb bending mechanism are by thumb turning cylinder (3), cross connector (15), first knuckle turning cylinder (16), driven bevel gear (14), initiatively conical gear (13) coupling.In the described mechanism, the vertical center of rotation of cross connector (15) is positioned at the initiatively center of circle of conical gear (13), guarantee thumb in rotation process, initiatively conical gear (13) is in engagement with driven bevel gear (14) always.
Described thumb lack of driven structure comprises first knuckle turning cylinder 16, first knuckle fork 18, dactylus kinematic link 19, second knuckle fork 20, second knuckle turning cylinder 21, thumb second knuckle 22, first knuckle fork 18 is affixed with cross connector 15, first knuckle turning cylinder 16 is hinged with cross connector 15, second knuckle turning cylinder 21 is affixed with second knuckle fork 20, second knuckle turning cylinder 21 is hinged with first knuckle 17, and second knuckle turning cylinder 21 is affixed with thumb second knuckle 22.The four-bar mechanism that above mechanism forms can be realized the rotation of first knuckle is delivered to second knuckle, realizes that one or two interphalangeal owing drive.The beneficial effect that the present invention has is:
1. adopted Worm Wheel System in the thumb transmission mechanism of the present invention's design, mechanism has auto-lock function, and after the motor outage, thumb has keeps the function that grasps moment.
2. the thumb structure of the present invention's design can realize rotating function, the bending grasping function, and the coupling control of the rotational motion by thumb and bending grasping motion can make thumb realize various spatial movements, can make manually does evil through another person realizes the grasping of different profile objects, and simple in structure, motion is reliable, and lightweight, volume is little.
Description of drawings
Fig. 1 is the syndeton schematic diagram of the present invention and palm;
Fig. 2 is overall structure schematic diagram of the present invention;
Fig. 3 is the rotating mechanism structural representation of thumb of the present invention;
Fig. 4 is the structural representation of bending mechanism of the present invention;
Fig. 5 be thumb of the present invention one or two dactylus owe the drives structure schematic diagram;
Among the figure: 1. palm base plate, 2. palm cover plate, 3. thumb turning cylinder, 4. pad, 5. worm screw, 6. worm gear, 7. motor, 8. pad, 9. worm gear, 10. worm screw, 11. motors, 12. sleeves, 13 active conical gears, 14. driven bevel gears, 15. cross connectors, 16. first knuckle turning cylinders, 17. the thumb first knuckle, 18. first knuckle forks, 19. dactylus kinematic links, 20. the second knuckle fork, 21. second knuckle power transmission shafts, 22. thumb second knuckles.
The specific embodiment
The realization of thumb rotating function:
As shown in Figure 3, motor 7 rotates, motor 7 main shafts and worm screw 5 are affixed, worm screw 5 is rotated, worm screw 5 is carried out the turbine and worm transmission with worm gear 6, worm gear 6 rotates, worm gear 6 is affixed with thumb turning cylinder 3, and thumb turning cylinder 3 rotates, and thumb turning cylinder 3 is affixed with cross connector 15, cross connector 15 rotates, cross connector 15 is horizontally hinged with first knuckle turning cylinder 16, and first knuckle turning cylinder 16 rotates, and first knuckle turning cylinder 16 is affixed with first knuckle 17, first knuckle rotates, and has then realized the rotation of thumb.
Realizing that thumb only rotates in the unbending motion control, should guarantee that motor 7 is identical with the rotating speed of motor 11, the velocity of rotation of first knuckle turning cylinder 16 is identical with the velocity of rotation of active conical gear 13 at this moment, and driven bevel gear 14 does not relatively rotate with active conical gear 13.Thumb only rotates not crooked.The realization of the crooked function of thumb:
As shown in Figure 4, motor 11 rotates, motor 11 main shafts and worm screw 10 are affixed, worm screw 10 is rotated, worm screw 10 is carried out Worm Wheel System with worm gear 9, and worm gear 9 rotates, and worm gear 9 is affixed with sleeve 12, sleeve 12 is vertically hinged with thumb rotating spindle 3, sleeve 12 is with initiatively conical gear 13 is affixed, and initiatively conical gear 13 rotates, and initiatively conical gear 13 is carried out Bevel Gear Drive with driven bevel gear 14, driven bevel gear 14 rotates, driven bevel gear 14 is affixed with thumb first knuckle turning cylinder 16, and first segment turning cylinder 16 rotatablely moves, and first knuckle turning cylinder 16 is affixed with first knuckle 17, first knuckle rotatablely moves, and then realizes the bending motion of thumb.
In realizing the control that a thumb bending grasping does not rotate, should guarantee that motor 7 cuts out.This moment, thumb turning cylinder 3 was static, and first knuckle turning cylinder 16 does not rotate, only rotation, thumb bending grasping.The realization of thumb spatial movement function:
As shown in Figure 2, in the spatial movement that realizes the thumb complexity, should finish by control motor 7 and the rotating speed of motor 11.
Thumb one or two dactylus owe actuation movement:
As shown in Figure 5, motor 11 rotates, by Bevel Gear Drive, thumb first knuckle turning cylinder 16 rotations this moment, first knuckle turning cylinder 16 is affixed with first knuckle fork 18, first knuckle fork 18 rotates, second knuckle turning cylinder 21 is affixed with second knuckle fork 20, by first knuckle fork 18, dactylus kinematic link 19, second knuckle fork 20, first knuckle 17 consists of four-bar linkage, then realized the rotational motion of first knuckle is transferred to second knuckle, namely realized the actuation movement of owing of thumb.
Claims (4)
1. thumb mechanism of manually doing evil through another person, it comprises thumb rotating mechanism, thumb bending grasping mechanism and thumb lack of driven structure.
2. according to claim 1 described a kind of thumb mechanism of manually doing evil through another person, it is characterized in that: described thumb rotating mechanism comprises thumb turning cylinder (3), pad (4), worm gear (6), worm screw (5), motor (7), cross connector (15), first knuckle turning cylinder (16), thumb turning cylinder (3) is affixed with worm gear (6), worm gear (6) is carried out Worm Wheel System with worm screw (5), worm screw (5) is affixed with motor (7) axle, thumb turning cylinder (3) is affixed with cross connector (15), and cross connector (15) is horizontally hinged with first knuckle turning cylinder (16).
3. according to claim 1 described a kind of thumb mechanism of manually doing evil through another person, it is characterized in that: described thumb bending grasping mechanism comprises: worm gear (9), worm screw (10), motor (11), pad (8), sleeve (12), active conical gear (13), driven bevel gear (14), first knuckle turning cylinder (16), cross connector (15), worm gear (9) is carried out Worm Wheel System with worm screw (10), worm screw (10) is affixed with motor (11) axle, worm gear (9) is affixed with sleeve (12), sleeve (12) is with initiatively conical gear (13) is affixed, sleeve (12) is vertically hinged with thumb rotating spindle (3), initiatively conical gear (13) is carried out Bevel Gear Drive with driven bevel gear (14), driven bevel gear (14) is affixed with first knuckle power transmission shaft (16), and first knuckle turning cylinder (16) is horizontally hinged with cross connector (15).
4. by claim 2,3 described a kind of thumb mechanisms of manually doing evil through another person, it is characterized in that: described thumb rotating mechanism and thumb bending mechanism are by thumb turning cylinder (3), cross connector (15), first knuckle turning cylinder (16), driven bevel gear (14), initiatively conical gear (13) coupling.In the described mechanism, the vertical center of rotation of cross connector (15) is positioned at the initiatively center of circle of conical gear (13), guarantee thumb in rotation process, initiatively conical gear (13) is in engagement with driven bevel gear (14) always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100595501A CN102896639A (en) | 2012-03-08 | 2012-03-08 | Thumb mechanism of artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100595501A CN102896639A (en) | 2012-03-08 | 2012-03-08 | Thumb mechanism of artificial hand |
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| CN102896639A true CN102896639A (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100595501A Pending CN102896639A (en) | 2012-03-08 | 2012-03-08 | Thumb mechanism of artificial hand |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538077A (en) * | 2013-10-12 | 2014-01-29 | 华南理工大学 | Mechanical simulated hand with multi-degree of freedom |
| CN103622768A (en) * | 2013-12-03 | 2014-03-12 | 哈尔滨工业大学 | USB (universal serial bus) 3.0-based five-finger myoelectric artificial limb embedded measurement and control system and USB 3.0 data transmission method of system |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN104625798A (en) * | 2014-12-09 | 2015-05-20 | 重庆迪科汽车研究有限公司 | Three-sided stable clamping mechanism |
| CN105078624A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Electric two-dimensional bionic hand thumb |
| CN105479454A (en) * | 2015-12-22 | 2016-04-13 | 唐晓琦 | Multi-degree-of-freedom mechanical hand based on synchronous belt drive |
| CN105965535A (en) * | 2016-05-04 | 2016-09-28 | 上海科生假肢有限公司 | Carpometacarpal joint of bionic hand |
| CN106078727A (en) * | 2016-08-05 | 2016-11-09 | 苏州库浩斯信息科技有限公司 | A kind of robot with the linkage of head double freedom |
| CN106113014A (en) * | 2016-08-05 | 2016-11-16 | 苏州库浩斯信息科技有限公司 | A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN110340913A (en) * | 2018-04-08 | 2019-10-18 | 上海傲意信息科技有限公司 | A kind of machinery bionic hand and its thumb module |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| WO2021066212A1 (en) * | 2019-09-30 | 2021-04-08 | 만드로 주식회사 | Thumb joint structure for robot hand |
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| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN101653941A (en) * | 2009-09-11 | 2010-02-24 | 清华大学 | Sliding block type direct under-actuated bionic hand device with changeable holding power |
| CN101716767A (en) * | 2009-11-27 | 2010-06-02 | 清华大学 | Coupling underactuated integrated bionic hand device |
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| US20070040400A1 (en) * | 2005-08-08 | 2007-02-22 | Greenhill Richard M | End effectors |
| KR20090041705A (en) * | 2007-10-24 | 2009-04-29 | 재단법인 포항지능로봇연구소 | Robot hand |
| CN101214653A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101214654A (en) * | 2008-01-11 | 2008-07-09 | 清华大学 | Gear belt wheel under-driven anthropomorphic robot hand device |
| CN101214656A (en) * | 2008-01-11 | 2008-07-09 | 清华大学 | Rack bar under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101214660A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope under-driven modularization anthropomorphic robot hand device |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN101653941A (en) * | 2009-09-11 | 2010-02-24 | 清华大学 | Sliding block type direct under-actuated bionic hand device with changeable holding power |
| CN101716767A (en) * | 2009-11-27 | 2010-06-02 | 清华大学 | Coupling underactuated integrated bionic hand device |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538077A (en) * | 2013-10-12 | 2014-01-29 | 华南理工大学 | Mechanical simulated hand with multi-degree of freedom |
| CN103538077B (en) * | 2013-10-12 | 2016-05-04 | 华南理工大学 | A kind of multiple degrees of freedom bionic mechanical hand |
| CN103622768A (en) * | 2013-12-03 | 2014-03-12 | 哈尔滨工业大学 | USB (universal serial bus) 3.0-based five-finger myoelectric artificial limb embedded measurement and control system and USB 3.0 data transmission method of system |
| CN104175319A (en) * | 2014-08-19 | 2014-12-03 | 东南大学 | Variable torque converter for under-actuated dexterous hand |
| CN104175319B (en) * | 2014-08-19 | 2015-12-30 | 东南大学 | For the variable displacement torque converter of under-actuated delicacy hand |
| CN104625798A (en) * | 2014-12-09 | 2015-05-20 | 重庆迪科汽车研究有限公司 | Three-sided stable clamping mechanism |
| CN105078624A (en) * | 2015-09-06 | 2015-11-25 | 丹阳假肢厂有限公司 | Electric two-dimensional bionic hand thumb |
| CN105479454A (en) * | 2015-12-22 | 2016-04-13 | 唐晓琦 | Multi-degree-of-freedom mechanical hand based on synchronous belt drive |
| CN105965535A (en) * | 2016-05-04 | 2016-09-28 | 上海科生假肢有限公司 | Carpometacarpal joint of bionic hand |
| CN106113014A (en) * | 2016-08-05 | 2016-11-16 | 苏州库浩斯信息科技有限公司 | A kind of for realizing robot head longitudinal oscillation and the drive mechanism rocked from side to side |
| CN106078727A (en) * | 2016-08-05 | 2016-11-09 | 苏州库浩斯信息科技有限公司 | A kind of robot with the linkage of head double freedom |
| CN106078727B (en) * | 2016-08-05 | 2019-04-09 | 苏州库浩斯信息科技有限公司 | A kind of robot with the linkage of head double freedom |
| CN110340913A (en) * | 2018-04-08 | 2019-10-18 | 上海傲意信息科技有限公司 | A kind of machinery bionic hand and its thumb module |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN109620487B (en) * | 2019-02-19 | 2020-07-28 | 上海理工大学 | Artificial limb thumb mechanism |
| WO2021066212A1 (en) * | 2019-09-30 | 2021-04-08 | 만드로 주식회사 | Thumb joint structure for robot hand |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN111265349B (en) * | 2020-02-17 | 2021-08-31 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
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Application publication date: 20130130 |