CN2680418Y

CN2680418Y - Prosthetic hand with enhanced grip

Info

Publication number: CN2680418Y
Application number: CN 200320116731
Authority: CN
Inventors: 陈建良; 陈建全; 陈怡君
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-11-20
Filing date: 2003-11-20
Publication date: 2005-02-23
Anticipated expiration: 2013-11-20

Abstract

A kind of artificial hand with enhanced effect of holding power, include a base, a drive unit set up in this base, a transmission set up in this base and linked by this drive unit, and the pin joint is on this base and is linked by the holding part of this transmission, this transmission includes: a transmission conversion unit having: the shaft body comprises a first end part and a second end part, wherein the first end part and the second end part are respectively provided with a first interference component and a second interference component, and a first sleeve body and a second sleeve body which are respectively sleeved on the first end part and the second end part; a planetary gear train reduction unit having: the central gear is driven by the driving device to drive the first sleeve body to rotate, the planetary gear is meshed with the central gear in a surrounding manner and drives the second sleeve body to rotate, and the gear ring is meshed with the outer side of the planetary gear in a surrounding manner and keeps a fixed position relative to the base body. The utility model discloses have the efficiency of grabbing the object action fast, can increase the power of grabbing automatically after snatching.

Description

Have doing evil through another person of grip strengthening effect

[technical field]

This utility model relates to a kind of doing evil through another person, particularly relate to a kind of have automatically increase grip when grasping object and have doing evil through another person of grip strengthening effect with what prevent that object from coming off.

[background technology]

In the past in the design of doing evil through another person, no matter in order to the structure of the clamping device of clamping object why it, most all with a motor as main power resources, relend by what different actuating device designs made that motor drives that clamping device produces folding and be used for clamping or discharge the object of clamping.

Yet; plant the phenomenon that reality uses regular meeting often to have the clamping object to come off easily that is configured in do evil through another person takes place at this point; it is all the more so when especially the object of weight is had in clamping slightly; concluding its reason is; based on the do evil through another person consideration of weight of reduction; and for the action that makes the folding of doing evil through another person fast and flexible comparatively; often be that the mode of taking quite to simplify is reached in the design of actuating device; and it is also quite fast that motor drives the speed of actuator movement; meaning is that speed reducing ratio is quite little and be fixed; in the hope of reaching the opening and closing movement purpose fast that makes clamping device; but as can be known by the principle on the machine driving mechanics; when transmission speed heals fast; the torsion of its power transmission shaft will be littler; therefore so be reflected at clamping device for the grip of object, well imagine that ground is also less relatively, no wonder this kind design of doing evil through another person can't be grasped heavier object and have the danger that causes object to come off to exist.

And how under the principle of volume that does not increase the unitary construction of doing evil through another person and weight, making does evil through another person has enough strength when grasping object, and the action that takes into account the clamping device folding of doing evil through another person is able to rapidly, is the target that this utility model is endeavoured.

[utility model content]

The purpose of this utility model is to provide a kind of doing evil through another person of grip strengthening effect that have, and it has, and action can automatically increase grip fast to keep the unlikely effect that comes off of object after grasping object when grasping object.

In order to achieve the above object, this utility model provides a kind of doing evil through another person of grip strengthening effect that have, include the driving device, that a pedestal, is arranged on this pedestal and be arranged in this pedestal and actuating device that is connected with this driving device and one first holder and one second holder that is articulated on this pedestal and is connected, it is characterized in that with this actuating device:

This actuating device comprises:

One transmission converting unit has:

One is the axis body that rotate at the center with an axis, and this axis body includes a first end and a second end, and this first end and this second end are provided with at least one first interference component and at least one second interference component respectively;

One cover overlays on this first end and by this first interference component and this axis body and produces first body of optionally gearing;

One cover overlays on this second end and is that the center is rotated and produced second body of optionally gearing by this second interference component and this axis body with this axis; And

One planet circular system deceleration unit has:

One driven by this driving device and with this axis rotation and drive the central gear that this first body rotates;

At least onely be arranged on this second body and produce rotation and around the planetary gear of this central gear revolution with this central gear engagement; And

One be centered around this planetary gear outside and with this planetary gear engagement and with the ring gear of this pedestal secure bond.

Described have doing evil through another person of grip strengthening effect, it is characterized in that: first of this transmission converting unit is to include an elastomer and a roller in relating to assembly, then be provided with the breach that caves in and supply this roller to put to this axis direction on the contact surface of this first end and this first body accordingly, this breach and constitute one radially wall and one and this radially wall press from both sides the horizontal wall of an angle, this elastomer then be compressed from this radially wall protrude and with this roller butt.

Described have doing evil through another person of grip strengthening effect, it is characterized in that: second interference component of this transmission converting unit is to include an elastomer, one stop part and a roller, then be provided with the breach that is provided with for this stop part to this axis direction depression on the contact surface of this second end and this second body accordingly, this breach and constitute one radially wall and one and this radially wall press from both sides the horizontal wall of an angle, this stop part apart from this radially wall one fixed range is arranged, this elastomer then be compressed certainly this radially wall protrude, this roller then is seated in the middle of this stop part and this elastomer.

Described have doing evil through another person of grip strengthening effect, it is characterized in that: this actuating device also includes one and driven by this axis body and the screw rod and of rotation is arranged in this screw rod outer rim to produce the slide block that moves back and forth to should screw rod rotating.

In sum, existing the structure of the present utility model and the effect that can be produced by this structure are summarized as follows:

Of the present utility model have doing evil through another person of grip strengthening effect, it is characterized in that: this is done evil through another person and comprises driving device, that a pedestal, is arranged on pedestal and be arranged in the pedestal and be subjected to the actuating device of driving device interlock and be articulated on the pedestal and be subjected to one first holder and one second holder of actuating device interlock, make first holder and second holder a relative approaching crawl position and one relative away from the off-position between move.

And actuating device comprises a transmission converting unit and a planet circular system deceleration unit.

The transmission converting unit has an axis body, one first body and one second body, axis body is to be that rotate at the center with an axis, it is formed with a first end and a second end, first end and the second end are provided with one first interference component and one second interference component respectively, when axis body is rotated with one first direction of rotation first holder and second holder are changed to the crawl position, and when axis body rotates with second direction of rotation opposite with first direction of rotation, first holder and second holder are changed to the off-position, first body is that cover overlays on the first end and is that rotate at the center with the axis, make first body produce optionally gearing by first interference component and axis body, again, second body is that cover overlays on the second end and is that rotate at the center with the axis, makes this two body produce optionally gearing by second interference component and axis body.

The planet circular system deceleration unit then has a central gear, a planet gear and a ring gear, central gear is driven by driving device and with this axis rotation, and drive first body simultaneously and rotate, planetary gear then is arranged on second body and with central gear and meshes, making planetary gear produce rotation and revolve round the sun around central gear simultaneously rotates to drive second body, ring gear is to be centered around the planetary gear outside and for the planetary gear engagement, and ring gear and pedestal and keep relative position to fix.

When axis body during for rotatable state, first body is borrowed first interference component and axis body to produce the power connection relationship and is directly driven axis body and produce high rotating speed and hang down rotatablely moving of torsion, and then makes first holder and the quick displacement of second holder; And after first holder and second holder grasp object and to make axis body be can not rotary state the time, first interference component will make first body and axis body break away from the power connection relationship, make through second body behind the planetary gear speed-reduction, produce the power binding by second interference component and axis body, and then drive rotatablely moving of the high torsion of the axis body generation slow-speed of revolution, first holder and second holder are strengthened for the strength that grasps object.

[description of drawings]

Have doing evil through another person of grip strengthening effect and be elaborated of the present utility model below by most preferred embodiment and accompanying drawing, in the accompanying drawing:

Fig. 1 is the side cross-sectional schematic, and the structure of a preferred embodiment of doing evil through another person of the present utility model is described;

Fig. 2 is an exploded view, and the main structure of an actuating device is described;

Fig. 3 is the represented cutaway view of I-I hatching among Fig. 1, illustrates that one first body of when carrying out holding action this actuating device of doing evil through another person and the first end of an axis body produce the banded relation of power;

Fig. 4 is the represented cutaway view of II-II hatching among Fig. 1, illustrates to do evil through another person that the banded relation of power does not take place for one second body of this actuating device and the second end of axis body when carrying out holding action;

Fig. 5 is the represented cutaway view of I-I hatching among Fig. 1, illustrates to do evil through another person that the banded relation of power does not take place for first body of this actuating device and the first end of axis body behind the clamping object;

Fig. 6 is the represented cutaway view of II-II hatching among Fig. 1, illustrates that second body of behind the clamping object this actuating device of doing evil through another person and the second end of axis body produce the banded relation of power;

Fig. 7 is the represented cutaway view of I-I hatching among Fig. 1, and the first end that first body that when discharging object action this actuating device of doing evil through another person is described drives axis body rotates synchronously.

[specific embodiment]

Consult Fig. 1, preferred embodiment of doing evil through another person with grip strengthening effect of the present utility model is to comprise a pedestal 1, be formed with an accommodation space 10 on the pedestal 1, make accommodation space 10 in order to the actuating device 3 that a driving device 2 and is subjected to driving device 2 interlocks to be set, in addition, pedestal 1 front end is articulated with one first holder 4 and one second holder 5, in this example, driving device 2 is a motor, first holder 4 then is connected with plural connecting rod 6 with second holder, 5 centres, the drive that makes first holder 4 and second holder 5 can be subjected to actuating device 3 is moved simultaneously, cause first holder 4 and second holder 5 a relative approaching crawl position and relatively away from the off-position between change to form the kenel of closure or unlatching.And the first holder 4 connection drive connection corresponding with second holder 5 be because can have various variation design, and be not emphasis of the present utility model place, promptly do not describe in detail at this.

Simultaneously with reference to Fig. 1 and Fig. 2, this utility model mainly focuses on the textural of actuating device 3 again.This actuating device 3 comprises a transmission converting unit 7 and a planet circular system deceleration unit 8.

Transmission converting unit 7 has an axis body 71, it is to be that rotate at the center with an axis 70, the direction of rotating can be opposite one first direction of rotation or one second direction of rotation mutually, first direction of rotation can make first holder 4 and second holder 5 mutually near changing to the crawl position with the action of carrying out clamping, and second direction of rotation then can make first holder 4 and second holder 5 mutually away from changing to the off-position with the action that discharges.

Axis body 71 is formed with a first end 711 and a second end 712, the solid memder that first end 711 and the second end 712 can be one of the forming, but in this example, first end 711, the second end 712 are other member of branch, and first end 711 is middle more with a separating part 713 generation annexations with the second end 712.

First end 711 is a lamellar body of having thickness slightly, make the center be provided with an axis hole 7110, and be provided with a breach 7111 to axis 70 directions depressions on its outer shroud circumferential surface at least, then be evenly distributed on the circumferential surface of first end 711 with three breach 7111 herein, make each breach 7111 constitute a radially wall 7112 to the extension of axis 70 directions, and one accompany the horizontal wall 7113 of a vertical angle with wall 7112 radially, and laterally wall 7113 is that self-corresponding radially wall 7112 extends toward second direction of rotation.In addition, each breach 7111 place is provided with one first interference component 714 more accordingly, it includes an elastomer 7141 and a roller 7142, and roller 7142 is seated in the breach 7111, elastomer 7141 then can be compressed from wall 7112 radially protrude and with roller 7142 butts.Again, first end 711 is provided with the short column 7114 that plural number extends to separating part 713 directions on the end face near separating part 713.

Separating part 713 is a thin slice body, corresponding axis hole 7110 places, center are provided with a perforation 7130, the position of corresponding short column 7114 then is provided with plural locating hole 7131, makes short column 7114 can be set in respectively in the locating hole 7131, rotates synchronously to cause first end 711 and separating part 713.

The second end 712 also is one to have thickness and the external diameter lamellar body more bigger than first end 711 slightly, its center, a side near separating part 713 is provided with a connecting axle 7121 in order to the axis hole 7110 of the perforation 7130 of passing separating part 713 simultaneously and first end 711, center, another side away from separating part 713 then is provided with one in order to pass pedestal 1 to be emerging in the output shaft 7122 of pedestal 1 outside, in addition, also be provided with three breach 7123 on the outer shroud circumferential surface of the second end 712 fifty-fifty to axis 70 directions depression, make each breach 7123 constitute a radially wall 7124 to the extension of axis 70 directions, and one accompany the horizontal wall 7125 of a vertical angle with wall 7124 radially, and laterally wall 7125 is that self-corresponding radially wall 7124 extends toward first direction of rotation.Each breach 7123 place is provided with one second interference component 715 more accordingly, it includes an elastomer 7151, a stop part 7152 and a roller 7153, making stop part 7152 is to be positioned on the separating part 713 and to extend and can be in the breach 7123 of correspondence toward the second end 712, and make stop part 7152 and corresponding 7124 maintenances of radially wall, one fixed range, elastomer 7151 then can be compressed protrude from wall 7124 radially, 7153 of rollers are seated in the middle of stop part 7152 and the elastomer 7151 and are subjected to the butt of elastomer 7151.

Transmission converting unit 7 has more one first body 72 and one second body 73, first body 72 is that cover overlays on the first end 711 and can be the center rotation by axis 70, the center of first body 72 is provided with a perforation 720, and the interior sidewall surface of first body 72 and axis body 71 centres produce optionally gearing (holding the back narration) by first interference component 714.Again, 73 covers of second body overlay on the second end 712 outsides, in this example, in second body 73 more is placed in first body 72, perforation 720 positions of corresponding first body 72 in one side then are provided with a perforate 730, and locating shaft 731, the second bodies 73 that more are provided with three outside projections around the perforate 730 be that rotate at the center with axis 70 also, make also to produce optionally gearing (narrating after holding) by second interference component 715 between interior sidewall surface and the axis body 71 of second body 73.

Planet circular system deceleration unit 8 has a central gear 81, at least one planetary gear 82 (being to adopt three planetary gears 82 in this example) and a ring gear 83.

Central gear 81 is driven by driving device 2 and with axis 70 rotations, and it also can pass in the chimeric perforation 720 that enters first body 72 in perforate 730 backs of second body 73, makes first body 72 can be by central gear 81 synchronous and equidirectional driven rotary.

82 of planetary gears be arranged on the locating shaft 731 of second body 73 and with central gear 81 engagements, make planetary gear 82 except that producing rotation, also produce revolution around central gear 81 simultaneously, because each planetary gear 82 is to be positioned on second body 73, to drive second body 73 when therefore planetary gear 82 revolves round the sun rotates, and because of the deceleration effect of planetary gear 82, the rotating speed of second body 73 will be lower than the rotating speed of first body 72 that direct acceptor center gear 81 drives.

Ring gear 83 is to be centered around each planetary gear 82 outside, make ring gear 83 the dentation inner edge surface can with 82 engagements of each planetary gear, and ring gear 83 is to be positioned in the accommodation space 10 of pedestal 1 and to keep constant with the relative position of pedestal 1.

With reference to figure 1, the actuating device 3 of present embodiment comprises that more a screw rod 91 and that is positioned at pivotly on the pedestal 1 is arranged in the screw rod 91 outer rims slide block 92 that generation moves back and forth with corresponding screw rod 91 rotations, slide block 92 further is connected on wherein the connecting rod 6 and drives first holder 4 and second holder 5 is swung simultaneously, and an end of screw rod 91 is provided with first travelling gear 93 of a coaxial rotation, and the output shaft 7122 of the second end 712 of axis body 71 also is provided with second travelling gear 94 of one and first travelling gear, 93 engaged transmission, makes axis body 71 can drive the action that first holder 4 and second holder 5 carry out clamping or release according to the difference of rotation direction.And the cooperation of screw rod 91, slide block 92, first travelling gear 93 and second travelling gear 94 only for description convenient for example, those who familiarize themselves with the technology is not the restrictive condition for necessity in this utility model when the drive structure that can be changed to other.

Simultaneously with reference to Fig. 1, Fig. 3 and Fig. 4, do not grasp object as yet when doing evil through another person and when desiring to carry out grasping movement, driving device 2 will drive central gear 81 and drive 72 rotations of first body synchronously with first direction of rotation, this moment, axis body 71 was rotating state because of first holder 4 and second holder 5 do not grasp object, so as Fig. 3, when first body 72 rotates with first direction of rotation (counterclockwise shown in the figure arrow), pushing roller 7142 because of the elastomer 7141 of first interference component 714 makes roller 7142 contact the internal face and horizontal wall 7113 of first body 72 simultaneously, and then make first body 72 and first end 711 produce the interference effect of friction, make axis body 71 therefore to rotate with first body 72.On the other hand, as Fig. 4, when axis body 71 is rotated by 72 drives of first body, the second end 712 is certainly along with rotation, though this moment, second body 73 also rotated with first direction of rotation simultaneously, but the velocity of rotation of second body 73 is the velocities of rotation that are lower than the axis body 71 that is driven by first body 72, therefore the second end 712 is still with first direction of rotation for second body 73 and rotates, and the roller 7153 of second interference component 715 clockwise rotates the phenomenon that contracts with in the compressing elastomer 7151 because of the speed difference of second body 73 and the second end 712 just like figure, strengthen for roller 7153 active spaces causing in the breach 7123 in case contract in the elastomer 7151, make the friction effect of roller 7153 reduce, therefore the slow rotation of second body 73 can't impact axis body 71 high speed rotating, generally speaking make and do evil through another person when carrying out holding action that axis body 71 is to rotate and make the change of action comparatively quick in the mode of the low torsion of high rotating speed.

And as Fig. 5 and Fig. 6, after first holder 4 and second holder 5 grasp object, because of can't moving again, first holder 4 and second holder 5 make axis body 71 for can not rotary state, this moment is as Fig. 5, first body 71 still rotates with respect to first end 711 with first direction of rotation, but first end 711 is because of rotating, make the roller 7142 of first interference component 714 be subjected to contract in first body, 72 internal faces drive and compressing the is corresponding elastomer 7141, making breach 7111 can hold roller 7142 active spaces strengthens, so the effect that roller 7142 produces frictional interference greatly reduces, cause first body 72 to form idle running and to break away from the banded relation of power with respect to axis body 71.Simultaneously as Fig. 6, the trend that 73 of second bodies just can make the roller 7153 of second interference component 715 have counterclockwise to rotate, and by the push effect of elastomer 7151 pair of rollers 7153, make roller 7153 be forced to contact simultaneously the internal face and the stop part 7152 of second body 73, and then produce effective rubbing action, and the power that automatically switches to second body, 73 drive axis bodies 71 links pattern, make second body 73 have and drive the trend that axis body 71 rotates, so can make first holder 4 and second holder 5 grip when grasping object that the effect of further reinforcement is arranged in mode than the high torsion of the slow-speed of revolution.

And as Fig. 1 and Fig. 7, when discharging object, first body 72 is subjected to the transmission of central gear 81 and rotates with second direction of rotation (shown in the figure arrow clockwise), make the roller 7142 of the interference component 714 of winning to contact the internal face of first body 72 and horizontal wall 7113 simultaneously to produce the frictional interference effect, make the body 72 of winning to drive axis body 71 and rotate apace, and then make the change of state of doing evil through another person apace towards the off-position.

Conclude above-mentioned, of the present utility model have doing evil through another person of grip strengthening effect, can borrow the particular design of its actuating device really, makes and do evil through another person outside the action of grasping object changes fast, more can after grasping object, strengthen its grip and prevent that object from coming off, so can reach the purpose of this utility model really.

Claims

1. A prosthetic hand with a grip strengthening effect, comprising a base, a driving device disposed on the base, a transmission device disposed in the base and connected to the driving device, and a base pivotally connected to the base A first clamping part and a second clamping part connected to the transmission device are characterized in that:

The transmission includes:

A transmission conversion unit, having:

A shaft rotating around an axis, the shaft includes a first end and a second end, the first end and the second end are respectively provided with at least one first interference component and at least one a second interference component;

a first sleeve covering the first end and selectively transmitting the shaft through the first interference component;

a second sleeve covering the second end, rotating around the axis, and generating selective transmission with the shaft through the second interference component; and

A planetary gear train reduction unit, having:

a central gear driven by the driving device to rotate on the axis and drive the first sleeve to rotate;

at least one planetary gear arranged on the second sleeve and engaged with the sun gear to generate self-rotation and revolve around the sun gear; and

A ring gear surrounds the outer side of the planetary gear, meshes with the planetary gear and is fixedly combined with the seat body.

2. The prosthetic hand with grip strengthening effect according to claim 1, characterized in that: the first interference component of the transmission conversion unit includes an elastic body and a roller, and the first end part and the first sleeve The contact surface of the body is correspondingly provided with a notch that is recessed in the axial direction and for the roller to be placed. The notch also constitutes a radial wall surface and a transverse wall surface at an angle with the radial wall surface, and the elastic body is compressed and protrudes from the radial wall surface to abut against the roller.

3. The prosthetic hand with grip strengthening effect according to claim 1, characterized in that: the second interference component of the transmission conversion unit includes an elastic body, a stopper and a roller, and the second end Correspondingly, on the contact surface of the second sleeve, there is a notch recessed in the direction of the axis for the setting of the stopper, and the notch constitutes a radial wall surface and a transverse wall at an angle with the radial wall surface. The stopper is a fixed distance away from the radial wall, and the elastic body protrudes from the radial wall under compression, and the roller is placed between the stopper and the elastic body.

4. The prosthetic hand with enhanced gripping force as claimed in claim 1, wherein the transmission device further comprises a screw driven by the shaft and a slider screwed on the outer edge of the screw.