CN111643234B - A prosthetic hand based on a dual-output winding rope actuator - Google Patents
A prosthetic hand based on a dual-output winding rope actuator Download PDFInfo
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- CN111643234B CN111643234B CN202010634828.8A CN202010634828A CN111643234B CN 111643234 B CN111643234 B CN 111643234B CN 202010634828 A CN202010634828 A CN 202010634828A CN 111643234 B CN111643234 B CN 111643234B
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- 238000004804 winding Methods 0.000 title claims abstract description 110
- 210000003811 finger Anatomy 0.000 claims abstract description 190
- 210000003813 thumb Anatomy 0.000 claims abstract description 165
- 210000004932 little finger Anatomy 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000013461 design Methods 0.000 abstract description 5
- 238000011161 development Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 210000005224 forefinger Anatomy 0.000 description 17
- 210000001145 finger joint Anatomy 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003042 antagnostic effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 229920000431 shape-memory polymer Polymers 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Cardiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
本发明提供一种基于双输出缠绕绳驱动器的假肢手，包括手臂、手掌、与手掌连接的大拇指、食指、中指、无名指、小指，所述的假肢手还包括用于驱动大拇指、食指、中指、无名指、小指动作的双输出缠绕绳组件。本发明结构紧凑体积小，质量轻，便于实现灵巧手或假肢手的小型化设计；由于该驱动器采用的是单电机双输出的驱动方式，使得控制难度大大降低，并可降低控制系统的开发和生产成本；通过调整双输出的绳索的预缠绕的圈数可以实现对手指的刚度的调整，从而将外界冲击载荷作用下手指零部件的损伤降低到最小程度；同时也可以减小假肢手在抓取物体时对物体造成的损伤；由于手指的回复运动不需要弹簧的辅助作用，从而使得手指的最大指尖力得以提升。
The present invention provides a prosthetic hand based on a dual-output winding rope driver, comprising an arm, a palm, a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm, and the prosthetic hand also comprises a dual-output winding rope assembly for driving the thumb, the index finger, the middle finger, the ring finger, and the little finger to move. The present invention has a compact structure, a small volume, and a light weight, and is convenient for realizing the miniaturization design of a dexterous hand or a prosthetic hand; since the driver adopts a single-motor dual-output driving mode, the control difficulty is greatly reduced, and the development and production costs of the control system can be reduced; by adjusting the number of pre-winding turns of the dual-output rope, the stiffness of the finger can be adjusted, thereby reducing the damage to the finger parts under the external impact load to a minimum; at the same time, the damage caused to the object by the prosthetic hand when grasping the object can also be reduced; since the restoring movement of the finger does not require the auxiliary effect of the spring, the maximum fingertip force of the finger can be improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a prosthetic hand based on a double-output winding rope driver.
Background
In recent years, with the rapid development of economy, robots have also been rapidly developed and widely used in various fields, and robots are the final actuating mechanism for robot work, and the performance of the robots directly determines the working capacity of the robots. Similar to humans, the development of a manipulator having high versatility and dexterity is necessary.
Currently, in the design of robot dexterous hands and medical prosthetic hands, the driving schemes of fingers can be roughly divided into the following ones:
1. a rigid driving scheme formed by combining the motor, the speed reducer and the gears;
2. pneumatic cylinder or hydraulic cylinder and the matched energy supply device form a gas-liquid driving scheme;
3. the tendon-like flexible driving scheme adopts a shape memory alloy and a shape memory polymer as a driver, a motor, a speed reducer and a traction rope as the driver, and a pneumatic tendon and a matched air source system as the driver.
However, with the first type of driving scheme, although rotation of the finger in both directions around the joint can be achieved by rotation in the forward and reverse directions of the motor, the entire finger exhibits a rigid characteristic in any state, affected by the driving and the characteristics of the power transmission system itself, which causes damage to the finger-transmitting parts when a large impact load acts on the finger from the outside.
The problem of placement of pneumatic or hydraulic sources for pneumatic and hydraulic drive schemes remains a critical limiting factor in the field of robotic dexterity, and in particular medical prosthetic hands.
For tendon-like flexible driving schemes, two main approaches are currently adopted for achieving bidirectional movement of the finger around the joint. The first is that two drivers are arranged in an antagonistic manner, but the increase in the number of drivers makes it difficult to reduce the overall mass and volume, and the increase in control difficulty makes the control system more complex. The second is a method of combining a single tendon-like driver with a return spring, wherein the tendon-like driver realizes inward bending movement of the finger, and the reverse return movement of the finger is realized by the return spring. But due to the presence of the return spring a part of the output force of the driver will be used to overcome the opposing tension of the spring, resulting in a reduction of the effective force of the driver and further a reduction of the fingertip force.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the prosthetic hand based on the double-output winding rope driver, the prosthetic hand can improve the effective output force of finger tips under the same condition, and realize the maximization of the finger tip force, and the rigidity of the winding rope adopted by the invention can be changed by adjusting the number of pre-winding turns of the winding rope because the rigidity coefficient of the winding rope is limited, so that the elasticity of the winding rope can play a certain buffering role when the winding rope is subjected to impact load, thereby realizing the protection effect on fingers to a certain extent.
The technical scheme is that the prosthetic hand based on the double-output winding rope driver comprises an arm, a palm, a thumb, an index finger, a middle finger, a ring finger and a little finger which are connected with the palm, and the prosthetic hand further comprises a double-output winding rope component for driving the thumb, the index finger, the middle finger, the ring finger and the little finger to act.
Preferably, the arm comprises an arm shell and an arm connecting seat, wherein the arm connecting seat is arranged at one end of the arm shell, and a cavity for installing the double-output winding rope assembly is formed in the arm shell.
Preferably, the double-output winding rope assembly comprises a plurality of winding rope drivers and a plurality of pairs of output winding ropes, wherein the output end rope seats and the double-output rope connecting seats are respectively arranged in the cavity of the arm shell, the output end rope seats and the double-output rope connecting seats are arranged on the inner side wall of the arm shell, one ends of the plurality of pairs of output winding ropes are respectively connected with the corresponding winding rope drivers, and then respectively penetrate through the output end rope seats and the double-output rope connecting seats to be connected with the thumb, the index finger, the middle finger, the ring finger and the little finger.
Preferably, the pair of output winding ropes at two ends of the winding rope driver perform corresponding number of turns of pre-winding, and winding directions of the two output winding ropes are opposite, when the winding rope driver acts, the length of the output winding rope at one output end of the winding rope driver is shortened due to the continuous increase of the winding number, and the length of the output winding rope at the other output end is increased due to the continuous decrease of the winding number.
Preferably, the plurality of winding rope drivers comprise a thumb winding rope driver, an index finger winding rope driver, a middle finger winding rope driver and a ring finger winding rope driver;
the plurality of pairs of output winding ropes comprise thumb double-driving ropes, index finger double-driving ropes, middle finger double-driving ropes and ring finger double-driving ropes.
Preferably, the thumb winding rope driver and the thumb double-driving rope are used for driving the thumb to act, the index finger winding rope driver and the index finger double-driving rope are used for driving the index finger to act, the middle finger winding rope driver and the middle finger double-driving rope are used for driving the middle finger to act, and the ring finger winding rope driver and the ring finger double-driving rope are used for driving the ring finger and the little finger to act.
Preferably, the thumb comprises a thumb first knuckle, a thumb second knuckle, a thumb driving motor, a thumb motor seat and a thumb main rotating shaft, wherein the thumb motor seat is arranged on a palm, the thumb driving motor is arranged in the thumb motor seat, a worm is arranged at the output end of a motor shaft of the thumb driving motor,
The thumb main rotating shaft is arranged on a palm through a thumb bearing a and a thumb bearing b, a thumb swing arm and a turbine are arranged on the thumb main rotating shaft, the thumb second knuckle is rotatably arranged on the thumb swing arm through a thumb connecting shaft, and the turbine is meshed with the worm;
the thumb connecting device is characterized in that the thumb first knuckle is arranged on the thumb second knuckle through a thumb connecting shaft, a thumb side link is further arranged on the thumb first knuckle, the thumb and the thumb swing arm, and the thumb first knuckle and the thumb double-drive rope are further arranged.
Preferably, the thumb second knuckle on still be provided with the thumb rope seat, be provided with corresponding through-hole on the thumb rope seat, through-hole and thumb rope pipe intercommunication, the other end and the output rope seat intercommunication of thumb rope pipe, the thumb rope pipe in be provided with thumb output winding rope, thumb double drive rope one end pass thumb rope seat and thumb first knuckle and be connected, the other end of thumb double drive rope is connected with thumb winding rope driver.
Preferably, the thumb bearing a and the thumb bearing b are arranged on the palm through the thumb bearing seat a and the thumb bearing seat b.
Preferably, E-shaped clamp springs are further arranged at two ends of the thumb connecting shaft, and the thumb connecting shaft is prevented from loosening through the E-shaped clamp springs.
Preferably, the forefinger include first knuckle of forefinger, forefinger second knuckle, forefinger base, forefinger side link, the forefinger base install on the palm, the forefinger second knuckle rotationally set up on the forefinger base through the forefinger pivot, first knuckle of forefinger be connected with the forefinger second knuckle through the forefinger pivot, first knuckle of forefinger and forefinger base between still be provided with the forefinger side link, the forefinger second knuckle still be connected with the two drive ropes of forefinger.
Preferably, the index finger base on still be provided with food guide tube seat, two index finger drive rope pipes, the index finger pipe seat pass through the screw and install on the index finger base, two the one end of index finger drive rope pipe install in the through-hole of food guide tube seat, two the other end of index finger drive rope pipe install in two round holes of output rope seat, the two index finger double drive rope set up in the index finger drive rope pipe, and the index finger double drive rope pass the through-hole on the food guide tube seat and connect respectively on the index finger second knuckle, the index finger double drive rope other end be connected with index finger winding rope driver.
Preferably, the structures of the middle finger, the ring finger and the little finger are similar to those of the index finger.
The beneficial effects of the invention are as follows:
1. The novel double-output winding rope driver is adopted as a driving source, and the driver has compact structure, small volume and light weight, and is convenient for realizing the miniaturization design of a dexterous hand or a prosthetic hand;
2. the driver adopts a single-motor double-output driving mode, so that the difficulty in control is greatly reduced, and the development and production cost of a control system can be reduced;
3. the invention can realize the adjustment of the rigidity of the finger by adjusting the pre-winding number of turns of the double-output rope, thereby reducing the damage of the finger parts to the minimum degree under the action of external impact load;
4. the finger force of the finger is improved under the same condition compared with the condition that the spring is adopted as the reverse reset driving device because the restoring movement of the finger does not need the auxiliary action of the spring;
5. the invention furthest reduces the number of drivers required for realizing the basic daily life operation function through the innovative design of the structure, thereby reducing the production cost of the prosthetic hand;
6. The invention introduces the guide tube into the design of the prosthetic hand, solves the problem that the traditional winding rope driver can only realize the motion along the linear direction and the force transmission, ensures that the transmission route can be arranged according to the requirements of application occasions, and simultaneously can play a role in protecting the rope and prevent damage caused by friction with the outside or contact with a sharp object.
Drawings
FIG. 1 is a schematic structural view of the present invention, wherein A and B are schematic structural views of different sides of the prosthetic hand of the present invention;
FIG. 2 is a schematic view of an arm according to the present invention;
FIG. 3 is a schematic view of the thumb structure of the present invention;
FIG. 4 is a schematic cross-sectional view A of the thumb of the present invention;
FIG. 5 is a schematic view B of a thumb cross-section of the present invention;
FIG. 6 is a schematic view C of a thumb cross-section of the present invention;
FIG. 7 is a schematic view of the index finger of the present invention;
FIG. 8 is a schematic cross-sectional view of an index finger of the present invention, wherein A, B is a block diagram of different sides;
fig. 9 is a schematic structural view of the ring finger and little finger driving rope of the present invention.
In the figure, 1-thumb, 2-index finger, 3-middle finger, 4-ring finger, 5-little finger, 6-palm, 7-arm,
1-1-Thumb bearing a, 1-2-worm wheel, 1-3-thumb rope shaft, 1-4-thumb swing arm, 1-5-thumb first knuckle, 1-6-thumb connecting shaft a, 1-7-thumb side link, 1-8-thumb traction rope a, 1-9-thumb second knuckle, 1-10-thumb traction rope b, 1-11-thumb guide tube b, 1-12-thumb rope seat, 1-13-thumb motor seat, 1-14-thumb driving motor, 1-15-thumb bearing seat a, 1-16-thumb main rotating shaft, 1-17-thumb connecting shaft b, 1-18-thumb bearing seat b, 1-19-thumb guide tube a, 1-20-thumb bearing seat b, 1-22-thumb connecting shaft c and 1-23-worm.
The novel multifunctional food processing device comprises a first knuckle of a 2-1-forefinger, a second knuckle of a 2-2-forefinger, a second knuckle of a 2-3-forefinger, a side link of a 2-4-forefinger, a rotating shaft b of a 2-5-forefinger, a base of a 2-6-forefinger, a traction rope a of a 2-7-forefinger, a traction rope b of a 2-8-forefinger, a guide tube seat of a 2-9-food, a guide tube a of a 2-10-forefinger driving rope, a guide tube b of a 2-11-forefinger driving rope, a rotating shaft c of a 2-12-forefinger, a rotating shaft d of a 2-13-forefinger and a clamp spring of a 2-14-E shape.
71-Arm shell, 72-arm connecting seat, 73-winding rope driver, 74-output end rope seat and 75-double output rope connecting seat;
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
The embodiment provides a prosthetic hand based on a dual-output winding rope driver, as shown in A, B in fig. 1, the prosthetic hand of the embodiment includes an arm 7, a palm 6, a thumb 1, an index finger 2, a middle finger 3, a ring finger 4 and a little finger 5 connected with the palm 6, and the prosthetic hand also includes a dual-output winding rope component for driving the thumb 1, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 to act.
Preferably, as shown in fig. 2, the arm 7 includes an arm housing 71 and an arm connecting seat 72, wherein the arm connecting seat 72 is disposed at one end of the arm housing 71, and a chamber for installing a dual output winding rope assembly is provided in the arm housing 71.
Preferably, the dual output winding rope assembly comprises a plurality of winding rope drivers 73 and a plurality of pairs of output winding ropes, wherein the output rope drivers 73 are arranged in the cavity of the arm shell 71, the output rope drivers 73 and the dual output rope connecting seats 75 are arranged on the inner side wall of the arm shell 71, one ends of the pairs of output winding ropes are respectively connected with the corresponding winding rope drivers 73, and then respectively penetrate through the output rope drivers 74 and the dual output rope connecting seats 75 to be connected with the thumb 1, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5.
Preferably, the pair of output winding ropes at both ends of the winding rope driver 73 are pre-wound with corresponding turns, and winding directions of the two output winding ropes are opposite, and when the winding rope driver 73 is operated, the length of the output winding rope at one output end of the winding rope driver 73 is shortened due to the increasing number of winding turns, and the length of the output winding rope at the other output end is increased due to the decreasing number of winding turns.
Preferably, the plurality of winding rope drivers 73 include thumb winding rope drivers, index finger winding rope drivers, middle finger winding rope drivers and ring finger winding rope drivers, and the plurality of pairs of output winding ropes include thumb double-driving ropes, index finger double-driving ropes, middle finger double-driving ropes and ring finger double-driving ropes.
Preferably, the thumb winding rope driver and the thumb double-driving rope are used for driving the thumb 1 to act, the index finger winding rope driver and the index finger double-driving rope are used for driving the index finger 2 to act, the middle finger winding rope driver and the middle finger double-driving rope are used for driving the middle finger 3 to act, and the ring finger winding rope driver and the ring finger double-driving rope are used for driving the ring finger 4 and the little finger 5 to act.
Preferably, as shown in fig. 3-6, the thumb 1 comprises a thumb first knuckle 1-5, a thumb second knuckle 1-9, a thumb driving motor 1-14, a thumb motor seat 1-13 and a thumb main rotating shaft 1-16, wherein the thumb motor seat 1-13 is arranged on the palm 6 through screws, the thumb driving motor 1-14 is arranged in the thumb motor seat 1-13, and a worm 1-23 is arranged on the output end of a motor shaft of the thumb driving motor 1-14.
The thumb bearing seat a1-15 and the thumb bearing seat b1-20 are fixedly arranged on the palm 6 through screws, the thumb bearing seat a1-15 and the thumb bearing seat b1-20 are respectively provided with a thumb bearing a1-1 and a thumb bearing b1-18, the thumb main rotating shaft 1-16 is arranged on the palm 6 through the thumb bearing a1-1 and the thumb bearing b1-18, the thumb main rotating shaft 1-16 is provided with a thumb swing arm 1-4 and a worm wheel 1-2, the thumb second knuckle 1-9 is rotatably arranged on the thumb swing arm 1-4 through a thumb connecting shaft b1-17, and the worm wheel 1-2 is meshed with the worm wheel 1-23. In order to prevent the rotating shaft from loosening, E-shaped clamping springs are respectively arranged at two ends of the thumb connecting shafts b 1-17.
The thumb rope seat 1-12 is arranged on the thumb second knuckle 1-9, a corresponding through hole is arranged on the thumb rope seat 1-12, a thumb guide pipe b1-11 is arranged on the through hole of the thumb rope seat 1-12, the other end of the thumb guide pipe b1-11 is respectively arranged on the output end rope seat 74, and a thumb traction rope b1-10 in the thumb guide pipe b1-11 penetrates through the through hole of the thumb rope seat 1-12 and is connected to the thumb first knuckle 1-5.
The thumb connecting device is characterized in that the thumb first knuckle 1-5 is arranged on the thumb second knuckle 1-9 through a thumb connecting shaft a1-6 and a thumb connecting shaft c1-22, the thumb connecting rod 1-7 is further arranged on the thumb first knuckle 1-5 and the thumb swing arm 1-4, the thumb connecting rod 1-7 is further provided with a thumb guide tube a1-19, a thumb traction rope a1-8 is arranged in the thumb guide tube a1-19, and the thumb traction rope a1-8 in the thumb guide tube a1-19 passes through a through hole in the thumb connecting rod 1-7 and is connected to the thumb first knuckle 1-5.
Preferably, as shown in fig. 7-8, the index finger 2 comprises an index finger first knuckle 2-1, an index finger second knuckle 2-3, an index finger base 2-6 and an index finger side link 2-4, the index finger base 2-6 is arranged on the palm 6 through screws,
The first finger joint 2-1 is connected with the second finger joint 2-3 through the first finger rotating shaft a2-2, the second finger joint 2-4 is further arranged between the first finger joint 2-1 and the first finger base 2-6, in the embodiment, the first finger joint 2-1 is connected with the first finger side frame 2-4 through the first finger rotating shaft d2-13, and the first finger side frame 2-4 is connected with the first finger base 2-6 through the first finger rotating shaft b 2-5. In order to prevent the rotating shaft from loosening, E-shaped clamp springs 2-14 are respectively arranged at two ends of the rotating shaft, a food guide tube seat 2-9, an index finger driving rope guide tube a2-10 and an index finger driving rope guide tube b2-11 are further arranged on the index finger base 2-6, the food guide tube seat 2-9 is arranged on the index finger base 2-6 through screws, one ends of the index finger driving rope guide tube a2-10 and the index finger driving rope guide tube b2-11 are arranged in through holes of the food guide tube seat 2-9, the other ends of the index finger driving rope guide tube a2-10 and the index finger driving rope guide tube b2-11 are arranged in two round holes of the output end rope seat 74, an index finger traction rope a2-7 and an index finger traction rope b2-8 are arranged in the index finger driving rope guide tube a2-10 and the index finger driving rope guide tube b2-11, the index finger traction ropes a2-7 and the index finger traction ropes b2-8 penetrate through the through holes of the index guide tube seat 2-9 and are respectively connected to the index finger second sections 2-3, and the other ends of the index finger driving rope a 2-8 are connected with the index finger driving rope and the index finger driving rope b 2-8.
When the length of the index finger traction rope a2-7 led out by the index finger driving rope guide a2-10 is shortened, the length of the index finger traction rope b2-8 led out by the index finger driving rope guide b 2-11 is increased, and the inward bending motion of the finger is realized at this time, while when the length of the index finger traction rope a2-7 led out by the index finger driving rope guide a2-10 is increased, the length of the rope of the index finger traction rope b2-8 led out by the index finger driving rope guide b 2-11 is shortened, and the restoring motion of the finger is realized at this time.
In this embodiment, the structures of the middle finger 3, the ring finger 4 and the little finger 5 are similar to those of the index finger 2. This embodiment is not described in any way. In addition, in this embodiment, the ring finger 4 and the little finger 5 are connected by ropes in fig. 9, the driving ropes of the ring finger 4 and the little finger 5 are connected together inside the arm 7 and connected to one output end of the corresponding driver, and the restoring ropes of the ring finger 4 and the little finger 5 are connected together and connected to the other output end of the same driver.
The foregoing embodiments and description have been provided merely to illustrate the principles and best modes of carrying out the invention, and various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The prosthetic hand based on the double-output winding rope driver comprises an arm, a palm and a double-output winding rope component used for driving the thumb, the index finger, the middle finger, the ring finger and the ring finger to act, and is characterized in that the prosthetic hand also comprises a cavity used for installing the double-output winding rope component, wherein the double-output winding rope component comprises a plurality of winding rope drivers and a plurality of pairs of output winding ropes, the output winding rope seat and the double-output rope connecting seat are respectively arranged in the cavity of the arm shell, one end of each pair of output winding ropes is respectively connected with the corresponding winding rope driver, and then respectively penetrates through the output winding rope seat, the double-output rope connecting seat and the cavity of the corresponding winding rope driver, and the two ends of the corresponding winding rope are respectively wound, and the winding number of the two ends of the winding rope is reduced due to the fact that the winding length of one winding rope is not increased;
The plurality of winding rope drivers comprise thumb winding rope drivers, index finger winding rope drivers, middle finger winding rope drivers and ring finger winding rope drivers;
The plurality of pairs of output winding ropes comprise thumb double-driving ropes, index finger double-driving ropes, middle finger double-driving ropes and ring finger double-driving ropes;
The thumb winding rope driver and the thumb double-driving rope are used for driving the thumb to act, the index finger winding rope driver and the index finger double-driving rope are used for driving the index finger to act, the middle finger winding rope driver and the middle finger double-driving rope are used for driving the middle finger to act, and the ring finger winding rope driver and the ring finger double-driving rope are used for driving the ring finger and the little finger to act.
2. The prosthetic hand based on the double-output winding rope driver of claim 1, wherein the thumb comprises a thumb first knuckle, a thumb second knuckle, a thumb driving motor, a thumb motor seat and a thumb main rotating shaft, the thumb motor seat is arranged on a palm, the thumb driving motor is arranged in the thumb motor seat, a worm is arranged on the output end of a motor shaft of the thumb driving motor,
The thumb main rotating shaft is arranged on the palm through a thumb bearing a and a thumb bearing b, a thumb swing arm and a worm wheel are arranged on the thumb main rotating shaft, the thumb second knuckle is rotatably arranged on the thumb swing arm through a thumb connecting shaft, and the worm wheel is meshed with the worm;
The thumb connecting device is characterized in that the thumb first knuckle is arranged on the thumb second knuckle through a thumb connecting shaft, a thumb side link is further arranged on the thumb first knuckle, the thumb and the thumb swing arm, and the thumb first knuckle is further connected with a thumb double-driving rope.
3. The prosthetic hand based on the double-output winding rope driver of claim 2, wherein the thumb rope seat is further arranged on the second knuckle of the thumb, a corresponding through hole is formed in the thumb rope seat, the through hole is communicated with the thumb rope guide pipe, the other end of the thumb rope guide pipe is communicated with the rope seat at the output end, the thumb output winding rope is arranged in the thumb rope guide pipe, one end of the thumb double-drive rope penetrates through the thumb rope seat to be connected with the first knuckle of the thumb, and the other end of the thumb double-drive rope is connected with the thumb winding rope driver.
4. The prosthetic hand based on the double-output winding rope driver of claim 1, wherein the index finger comprises an index finger first knuckle, an index finger second knuckle, an index finger base and an index finger side link, the index finger base is arranged on a palm, the index finger second knuckle is rotatably arranged on the index finger base through an index finger rotating shaft, the index finger first knuckle is connected with the index finger second knuckle through the index finger rotating shaft, the index finger side link is further arranged between the index finger first knuckle and the index finger base, and the index finger second knuckle is further connected with the index finger double-driving rope.
5. The prosthetic hand based on the double-output winding rope driver of claim 4, wherein the index finger base is further provided with a food guide tube seat and two index finger driving rope guide tubes, the index finger guide tube seat is arranged on the index finger base through screws, one ends of the two index finger driving rope guide tubes are arranged in through holes of the food guide tube seat, the other ends of the two index finger driving rope guide tubes are arranged in two round holes of the output end rope seat, the index finger double driving rope is arranged in the two index finger driving rope guide tubes, the index finger double driving rope penetrates through the through holes of the food guide tube seat and is respectively connected to the index finger second knuckle, and the other ends of the index finger double driving rope are connected with the index finger winding rope driver.
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| CN202010634828.8A CN111643234B (en) | 2020-07-03 | 2020-07-03 | A prosthetic hand based on a dual-output winding rope actuator |
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| CN202010634828.8A CN111643234B (en) | 2020-07-03 | 2020-07-03 | A prosthetic hand based on a dual-output winding rope actuator |
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| CN115139330B (en) * | 2022-06-29 | 2025-05-16 | 诺丁汉(余姚)智能电气化研究院有限公司 | A bionic joint driven by twisted-pair wire with variable stiffness and transmission ratio |
| CN116330324A (en) * | 2023-03-09 | 2023-06-27 | 五邑大学 | Bionic fingers and dexterous hands |
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| CN213098545U (en) * | 2020-07-03 | 2021-05-04 | 五邑大学 | Artificial hand based on dual-output winding rope driver |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN102257292B (en) * | 2008-12-19 | 2014-01-08 | 株式会社川渊机械技术研究所 | Linearly moving extendable mechanism and robot arm equipped with linearly moving extendable mechanism |
| CN103565562B (en) * | 2013-08-02 | 2014-06-04 | 华中科技大学 | Under-actuated artificial limb hand |
| CN203896768U (en) * | 2014-06-20 | 2014-10-29 | 沈阳工业大学 | Adjustable under-actuated fruit and vegetable picking manipulator |
| CN106038007B (en) * | 2016-07-04 | 2017-11-07 | 中国科学院深圳先进技术研究院 | Bionical prosthetic hand |
| CN207696544U (en) * | 2017-12-15 | 2018-08-07 | 福州大学 | Tendon drive-type bionic mechanical hand |
| CN108553205A (en) * | 2018-05-20 | 2018-09-21 | 柴佳利 | A kind of wrist driving cord transmission prosthetic hand |
| CN108544518B (en) * | 2018-06-14 | 2024-05-28 | 五邑大学 | Initiative dual-mode rope-driven five-finger smart manipulator |
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| 新型双模式缠绕绳驱动器的设计与应用;江励等;《机械科学与技术》;20220430;第41卷(第4期);545-551 * |
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