CN109674562B - Gear train type under-actuated bionic artificial finger - Google Patents
Gear train type under-actuated bionic artificial finger Download PDFInfo
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- CN109674562B CN109674562B CN201910057051.0A CN201910057051A CN109674562B CN 109674562 B CN109674562 B CN 109674562B CN 201910057051 A CN201910057051 A CN 201910057051A CN 109674562 B CN109674562 B CN 109674562B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 27
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000005057 finger movement Effects 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims 2
- 210000003811 finger Anatomy 0.000 description 82
- 230000007246 mechanism Effects 0.000 description 8
- 210000003813 thumb Anatomy 0.000 description 8
- 238000005452 bending Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- 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
- A61F2002/5081—Additional features
- A61F2002/5083—Additional features modular
-
- 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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wheel train type under-actuated bionic artificial finger. The finger body part comprises a finger base frame, a first knuckle shell, a second knuckle frame, a second knuckle shell and a third knuckle; the finger mechanical transmission chain comprises a miniature motor miniature speed reducer assembly, a bevel gear pair and a spur gear pair; after the transmission chain is transmitted to the fourth spur gear, the motion is decomposed into two branched chains, one branched chain realizes the motion of the second joint, the other branched chain realizes the motion of the first joint, and the motions of the two joints are coupled to form an underactuated motion mode. The finger is of a modular structure design, the whole finger is convenient to assemble and disassemble, the finger is simple in structure and light in weight, and the palm thickness size is reduced due to the design of the finger.
Description
Technical Field
The invention belongs to the field of medical rehabilitation instruments, and particularly relates to a wheel train type under-actuated bionic artificial finger.
Background
The prosthetic hand is mounted on the end of the disabled person's stump for performing certain functions of the human hand. The Suva single degree of freedom prosthetic hand of OttoBock company in Germany is driven by a miniature motor, and the prosthetic hand has simple opening and closing functions and cannot realize complex action modes. Modern prosthetic hands have multiple degrees of freedom, typically five fingers, wherein the index finger, middle finger, ring finger and little finger are identical in mechanical structure, collectively referred to as fingers, each finger has two joints, a first joint is a driving joint, a second joint is a driven joint, the motions of the two joints are coupled, each finger is driven by a micro motor, and the driving mode is called underactuation in the industry. A representative multiple degree of freedom prosthetic hand is compared with the ilimb prosthetic hand manufactured by Blatchford & son, UK and the Bebionic prosthetic hand manufactured by Steeper, iceland. The first joint of the finger of the ilimb artificial hand is driven by a worm and a worm wheel, a miniature motor miniature speed reducer assembly is arranged in a cavity of the first knuckle of the finger, an output shaft of the miniature speed reducer drives the worm to rotate through a bevel gear pair, the worm wheel is connected to a palm part and is fixed relative to the palm, when the motor rotates, the worm, the miniature speed reducer of the miniature motor and the first knuckle rotate around the worm wheel to realize the movement of the first joint, and the second joint is driven by a rope connected to the worm wheel. The main defect of this prosthetic finger is, miniature motor miniature reduction gear subassembly is arranged in the first knuckle cavity of finger, though can save the space of palm, but receive miniature motor miniature reduction gear length's restriction, the first knuckle length of finger is longer than people's knuckle length, and miniature motor miniature reduction gear also regard as miniature motor's load, the effective power of motor has been wasted, the center of gyration of first knuckle is the center of worm wheel promptly, be located first knuckle palm center, when wearing imitative people's hand skin, the wrist joint department warp very greatly, the effective power of motor has been wasted greatly, the effective power that the finger can be used for snatching is very little. The first joint of the finger of the Bebionic prosthetic hand is driven by a sliding block connecting rod mechanism, the second joint is driven by a four-bar mechanism, the active movement rod piece of the four-bar mechanism is the first knuckle, and the miniature motor miniature speed reducer assembly is arranged in the palm. The main defect of the prosthetic hand is that the first joint transmission chain of the fingers is arranged in two layers, so that the length of the transmission chain is reduced, but the palm is thicker, and the appearance of the prosthetic hand is influenced.
In addition, by searching the prior literature data, the following steps are found:
chinese patent publication No.: CN 1418765, name: robot dexterous hand mechanism. The two joints of each finger are controlled by two motors respectively, although flexibility is increased, and the two joints are not suitable for prosthetic hands due to weight and the like.
Chinese patent publication No.: CN 1365877, name: a robot anthropomorphic multi-finger hand device. The four fingers of the index finger, the middle finger, the ring finger and the little finger are controlled by a motor; the thumb is controlled by a motor. Only five-finger grabbing operation modes can be realized, and other motion modes such as two-finger pinching and double-click operation modes of a mouse and the like cannot be realized.
Chinese patent publication No.: CN 103565562A, name: an under-actuated prosthetic hand. Three motors are used for controlling the movement of five fingers, wherein the index finger and the middle finger are controlled by one motor, the ring finger and the little finger are controlled by one motor, and the thumb is controlled by one motor, so that the independent movement of each finger can not be realized. The mechanical transmission chain is that a motor drives a screw rod nut mechanism, and then the rotary motion of the motor is converted into the linear motion of a sliding block through a sliding block guide rail mechanism, and the sliding block pulls a rope to drive each knuckle of a finger, so that the transmission chain is longer, and the palm size is longer; the supination of the thumb and the abduction of the thumb are not independent.
Chinese patent publication No.: CN 103538077A, name: a multi-degree-of-freedom robot bionic hand. Six motors are used for controlling the prosthetic hand, wherein one motor is used for each of the index finger, the middle finger, the ring finger and the little finger; the thumb uses two motors, one for thumb supination and one for thumb Qu Zhan. The motors are fixed on the palm, and the mechanical transmission chain is a worm and worm wheel mechanism. The finger and thumb motors are placed in sequence, so that the palm is very long.
Disclosure of Invention
The invention aims to overcome the defects in the existing prosthetic hand product and provide a modularized wheel train type under-actuated bionic prosthetic finger structure which is attractive in appearance, flexible to control and powerful in function.
The invention is realized by the following technical scheme:
the wheel train type under-actuated bionic artificial finger consists of a finger body and a finger mechanical transmission chain; the finger body comprises a finger base frame, a first knuckle rack, a first knuckle shell, a second knuckle rack, a second knuckle shell and a third knuckle from the near to the far; the first knuckle housing is connected to the first knuckle housing through a second shaft and a third shaft and is fixed relative to the first knuckle housing; the second knuckle frame is connected to the far end of the first knuckle frame through a fourth shaft and can perform rotary motion relative to the far end of the first knuckle frame to form a second knuckle of the finger, and the second knuckle shell is connected to the second knuckle frame through a fourth shaft and a fifth shaft and is fixed relative to the second knuckle frame; the third knuckle is connected to the second knuckle frame through the first pin and the second pin and is fixed relative to the second knuckle frame;
the finger movement transmission chain comprises a miniature motor miniature speed reducer assembly, a first bevel gear, a second bevel gear, a first straight gear, a second straight gear, a third straight gear, a fourth straight gear, a fifth straight gear, a sixth straight gear, a seventh straight gear, an eighth straight gear and a ninth straight gear; the miniature motor miniature reducer assembly is connected to the finger base frame in an interference connection mode and is positioned at the palm center position; the first bevel gear is sleeved on a D-shaped section output journal of the miniature speed reducer through a D-shaped section central hole of the first bevel gear, and the rotary motion of the miniature speed reducer output journal can drive the first bevel gear to synchronously rotate along with the first bevel gear; the second bevel gear is sleeved on a D-shaped section shaft neck at one side of the first shaft through a D-shaped section central hole of the second bevel gear, the first shaft is arranged in one hole of the finger base frame and can rotate in the hole, the first shaft is perpendicular to an output shaft of the miniature speed reducer, the second bevel gear is meshed with the first bevel gear, the first straight gear is connected on the D-shaped section shaft neck at the other end of the first shaft through the D-shaped section central hole of the first bevel gear, and an elastic clamping ring is arranged at one side of the first shaft, on which the first straight gear is arranged, so that axial positioning of the straight gear is realized; the second shaft sequentially passes through the left side plate near-end hole of the first knuckle shell, the second spur gear central hole, the finger base frame inner hole, the first knuckle frame near-end hole, the ninth spur gear central hole and the right side plate near-end hole of the first knuckle shell from left to right, the second shaft is in interference fit with the finger base frame inner hole and is in movable fit with other passing parts, and the second spur gear is meshed with the first spur gear; the periphery of the ninth spur gear hub is of a D-shaped section, and the hub is connected in an inner hole with the D-shaped section of the finger base frame, so that the ninth spur gear is fixed relative to the finger base frame; the third shaft sequentially passes through a left side plate far end hole, a third spur gear center hole, a first knuckle rack middle hole, an eighth spur gear center hole and a first knuckle shell right side plate far end hole from left to right, the third shaft is in interference fit with the first knuckle rack middle hole and is in movable fit with other parts which pass through the third shaft, the third spur gear is meshed with the second spur gear, and the eighth spur gear is meshed with the ninth spur gear; the fourth shaft sequentially passes through a left side plate near-end hole, a fourth straight gear center hole, a first knuckle rack far-end hole, a second knuckle rack near-end hole, a seventh straight gear center hole and a right side near-end hole of the second knuckle shell from left to right, the periphery of the fourth shaft is in a D-shaped section, the fourth straight gear center hole is in a D-shaped section, the seventh straight gear center hole is in a D-shaped section, therefore, the fourth straight gear and the seventh straight gear can only synchronously rotate, and the fourth shaft is in movable fit with other parts passing through the fourth shaft; the fifth shaft sequentially passes through the far end hole of the left side plate of the second knuckle shell, the center hole of the fifth spur gear, the middle hole of the second knuckle frame, the center hole of the sixth spur gear, the center hole of the spacer bush and the far end hole of the right side of the second knuckle shell from left to right, the periphery of the fifth shaft is a D-shaped section, the center hole of the fifth spur gear is a D-shaped section hole, the center hole of the sixth spur gear is a D-shaped section hole, so that the fifth spur gear and the sixth spur gear can only synchronously rotate, and the fifth shaft is in movable fit with other parts passing through the fifth shaft; the first pin sequentially passes through the left near-end hole of the third knuckle, the near-end pin hole of the second knuckle frame and the right near-end hole of the third knuckle from left to right, the second pin sequentially passes through the left far-end hole of the third knuckle, the far-end pin hole of the second knuckle frame and the far-end hole of the third knuckle from left to right, the first pin is in interference fit with parts passing through the first pin, the second pin is in interference fit with parts passing through the second pin, and therefore the third knuckle is fixed relative to the second knuckle frame.
The mechanical transmission process when the fingers do bending motion is as follows: the miniature motor rotates clockwise, the output shaft diameter of the miniature speed reducer drives the first bevel gear to rotate clockwise around the axis of the miniature speed reducer, the second bevel gear meshed with the first bevel gear rotates anticlockwise, and the first straight gear is positioned at the left side of the first knuckle and synchronously rotates anticlockwise along with the second bevel gear; the second spur gear meshed with the first spur gear is positioned at the left side of the first knuckle and is sleeved on the second shaft in an empty mode and is used as an idler gear to rotate clockwise on the second shaft; a third spur gear meshed with the second spur gear is positioned at the left side of the first knuckle and is sleeved on the third shaft in an empty mode, and the third spur gear is used as an idler wheel to rotate anticlockwise on the third shaft; a fourth spur gear meshed with the third spur gear is positioned at the left side of the second knuckle and fixedly connected to the fourth shaft, and rotates along with the fourth shaft in a clockwise direction; the seventh straight gear is positioned on the right side of the second knuckle and fixedly connected with the fourth shaft and rotates clockwise along with the fourth shaft; the eighth straight gear is positioned on the right side of the first knuckle and is sleeved on the third shaft in an empty mode, and the eighth straight gear rotates anticlockwise on the third shaft through meshing with the seventh straight gear; the ninth straight gear is positioned on the right side of the first knuckle and is fixedly connected with the finger base frame, and the first knuckle of the finger generates bending motion around the second shaft, namely the first joint due to the meshing of the ninth straight gear and the eighth straight gear; the fifth straight gear is positioned on the right side of the second knuckle and is fixedly connected with the fifth shaft, the fifth straight gear is meshed with the fourth straight gear, so that the fifth shaft rotates anticlockwise, and the sixth straight gear is positioned on the right side of the second knuckle and is fixedly connected with the fifth shaft, so that the sixth straight gear also rotates anticlockwise; the right end of the first knuckle frame is provided with gear teeth and meshed with a sixth spur gear, and the rotary motion of the sixth spur gear causes the second knuckle frame to perform finger bending motion relative to the far end of the first knuckle frame.
When fingers do stretching movement, the mechanical transmission process is that the micro motor rotates anticlockwise, the output shaft diameter of the micro speed reducer drives the first bevel gear to rotate anticlockwise around the axis of the first bevel gear, the second bevel gear meshed with the first bevel gear rotates clockwise, and the first straight gear is positioned at the left side of the first knuckle and synchronously rotates clockwise along with the second bevel gear; the second spur gear meshed with the first spur gear is positioned at the left side of the first knuckle and is sleeved on the second shaft in an empty mode and is used as an idler gear to rotate anticlockwise on the second shaft; a third spur gear meshed with the second spur gear is positioned at the left side of the first knuckle and is sleeved on the third shaft in an empty mode, and the third spur gear is used as an idler wheel to rotate clockwise on the third shaft; a fourth spur gear meshed with the third spur gear is positioned at the left side of the second knuckle and fixedly connected to the fourth shaft, and rotates along with the fourth shaft in a counterclockwise direction; the seventh straight gear is positioned on the right side of the second knuckle and fixedly connected with the fourth shaft and rotates anticlockwise along with the fourth shaft; the eighth straight gear is positioned on the right side of the first knuckle and is sleeved on the third shaft in an empty mode, and the eighth straight gear rotates clockwise on the third shaft through meshing with the seventh straight gear; the ninth straight gear is positioned on the right side of the first knuckle and is fixedly connected with the finger base frame, and the first knuckle of the finger generates finger expanding movement around the second shaft, namely the first joint due to the meshing of the ninth straight gear and the eighth straight gear; the fifth straight gear is positioned on the right side of the second knuckle and is fixedly connected with the fifth shaft, the fifth straight gear is meshed with the fourth straight gear, so that the fifth shaft rotates clockwise, and the sixth straight gear is positioned on the right side of the second knuckle and is fixedly connected with the fifth shaft, so that the sixth straight gear also rotates clockwise; the right end of the first knuckle frame is provided with gear teeth and meshed with a sixth spur gear, and the rotary motion of the sixth spur gear causes the second knuckle frame to perform finger unfolding motion relative to the far end of the first knuckle frame.
The description of the mechanical transmission chain of the prosthetic finger shows that after the mechanical transmission chain is transmitted to the fourth spur gear, the motion is decomposed into two branched chains, one branched chain realizes the motion of the second joint, the other branched chain realizes the motion of the first joint, and the motions of the two joints are coupled to form an underactuated motion mode.
The invention has the technical advantages and effects that:
the artificial finger is of a modularized structure, and is mounted on or dismounted from the artificial palm through the finger rest, so that great convenience is brought to manufacturing and maintenance of the artificial hand.
The bending and stretching movements of the first knuckle and the second knuckle are realized through the movement decomposition principle of the wheel system, the mechanism is simple, and the movement relation is determined.
Each finger is driven by only one micro motor, so that an underactuated mode is realized. And the movement of each finger is independent.
The thickness of the prosthetic palm need only be slightly greater than the diameter of the miniature motor, and in all current prosthetic hands, the palm of the prosthetic hand is the thinnest.
Drawings
FIG. 1 is a schematic diagram of the mechanical transmission of a prosthetic finger;
FIG. 2 is a schematic representation of a finger curl posture;
figure 3 is a schematic diagram of a finger-spread gesture of a prosthetic finger.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a wheel train type under-actuated bionic artificial finger, which is shown in figure 1, and consists of a finger body and a finger mechanical transmission chain; the finger body is composed of a first knuckle frame 13 connected to the far end of the finger base frame 3 through a second shaft 9 and capable of rotating around the second shaft 9 to form a first knuckle of the finger, and a first knuckle shell 10 connected to the first knuckle frame 13 through the second shaft 9 and a third shaft 11 and fixed relative to the first knuckle frame 13; the second knuckle frame 19 is connected to the distal end of the first knuckle frame 13 through a fourth shaft 15 and can perform rotary motion relative to the distal end of the first knuckle frame 13 to form a second knuckle of the finger, and the second knuckle housing 16 is connected to the second knuckle frame 19 through a fourth shaft 15 and a fifth shaft 18 and is fixed relative to the second knuckle frame 19; the third knuckle 22 is connected to the second knuckle housing 19 by the first pin 20 and the second pin 21 and is fixed relative to the second knuckle housing 19.
The finger movement transmission chain comprises a first bevel gear 28 sleeved on a D-shaped section output shaft neck of the miniature speed reducer 2 through a D-shaped section central hole of the first bevel gear, and the rotary movement of the output shaft neck of the miniature speed reducer 2 can drive the first bevel gear 28 to synchronously rotate along with the first bevel gear; the second bevel gear 4 is sleeved on the shaft neck of the D-shaped section at one side of the first shaft 5 through the central hole of the D-shaped section, the first shaft 5 is arranged in one hole of the finger base frame 3 and can rotate in the hole, the first shaft 5 is perpendicular to the output shaft of the miniature speed reducer 2, the second bevel gear 4 is meshed with the first bevel gear 28, the first straight gear 7 is connected on the shaft neck of the D-shaped section at the other end of the first shaft 5 through the central hole of the D-shaped section, and the elastic clamping ring 6 is arranged at one side of the first shaft 5 where the first straight gear 7 is arranged so as to realize the axial positioning of the first straight gear 7; the second shaft 9 sequentially passes through a left side plate proximal hole of the first knuckle housing 10, the second spur gear 8, an inner hole of the finger base frame 3, a proximal hole of the first knuckle frame 13, a ninth spur gear 27 central hole and a right side plate proximal hole of the first knuckle housing 10 from left to right, the second shaft 9 is in interference fit with the inner hole of the finger base frame 3 and is in movable fit with other passing parts, and the second spur gear 8 is meshed with the first spur gear 7; the periphery of the hub of the ninth spur gear 27 has a D-shaped cross section, and the hub is connected to an inner hole of the finger base frame 3, which has a D-shaped cross section, so that the ninth spur gear 27 is stationary relative to the finger base frame 3; the third shaft 11 sequentially passes through a left side plate far end hole of the first knuckle housing 10, the third spur gear 12, a middle hole of the first knuckle frame 13, an eighth spur gear 26 and a right side plate far end hole of the first knuckle housing 10 from left to right, the third shaft 11 is in interference fit with the middle hole of the first knuckle frame 13 and is in movable fit with other parts passing through the third shaft 11, the third spur gear 12 is meshed with the second spur gear 8, and the eighth spur gear 26 is meshed with the ninth spur gear 27; the fourth shaft 15 sequentially passes through the left side plate proximal end hole of the second knuckle housing 16, the center hole of the fourth spur gear 14, the distal end hole of the first knuckle housing 13, the proximal end hole of the second knuckle housing 19, the center hole of the seventh spur gear 25 and the right side plate proximal end hole of the second knuckle housing 16 from left to right, the periphery of the fourth shaft 15 is in a D-shaped cross section, the center hole of the fourth spur gear 14 is in a D-shaped cross section, and the center hole of the seventh spur gear 25 is in a D-shaped cross section, so that the fourth spur gear 14 and the seventh spur gear 25 can only synchronously rotate, and the fourth shaft 15 and other passing parts are in movable fit; the fifth shaft 18 sequentially passes through the far end hole of the left side plate of the second knuckle housing 16, the center hole of the fifth spur gear 17, the middle hole of the second knuckle frame 19, the center hole of the sixth spur gear 23, the spacer 24 and the far end hole of the right side plate of the second knuckle housing 16 from left to right, the periphery of the fifth shaft 18 is in a D-shaped section, the center hole of the fifth spur gear 17 is in a D-shaped section, and the center hole of the sixth spur gear 23 is in a D-shaped section, so that the fifth spur gear 17 and the sixth spur gear 23 can only synchronously rotate, the axial positioning of the sixth spur gear 23 is realized by the spacer 24, and the fifth shaft 18 is in movable fit with other passing parts; the first pin 20 sequentially passes through the left proximal hole of the third knuckle 22, the proximal pin hole of the second knuckle frame 19 and the right proximal hole of the third knuckle 22 from left to right, the second pin 21 sequentially passes through the left distal hole of the third knuckle 22, the distal pin hole of the second knuckle frame 19 and the right distal hole of the third knuckle 22 from left to right, the first pin 20 is in interference fit with the part passing through the first pin, and the second pin 21 is also in interference fit with the part passing through the second pin, so that the third knuckle 22 is fixed relative to the second knuckle frame 19.
The mechanical transmission process when the fingers do bending motion is as follows: the micro motor 1 rotates clockwise, the output shaft diameter of the micro speed reducer 2 drives the first bevel gear 28 to rotate clockwise around the axis of the first bevel gear 28 through the speed reduction of the micro speed reducer 2, the second bevel gear 4 meshed with the first bevel gear 28 rotates anticlockwise, and the first bevel gear 7 is positioned in the left side plate of the first knuckle shell 10 and synchronously rotates anticlockwise along with the second bevel gear 4; a second spur gear 8 meshed with the first spur gear 7 is positioned in the left side plate of the first knuckle housing 10 and is sleeved on the second shaft 9 in a hollow manner, and the second spur gear is used as an idler wheel to rotate clockwise on the second shaft 9; a third spur gear 12 meshed with the second spur gear 8 is positioned in the left side plate of the first knuckle housing 10 and is sleeved on the third shaft 11 in a hollow manner, and is used as an idler wheel to rotate anticlockwise on the third shaft 11; a fourth spur gear 14 meshed with the third spur gear 12 is positioned in the left side plate of the second knuckle housing 16 and fixedly connected to the fourth shaft 15 to revolve clockwise along with the fourth shaft 15; the seventh spur gear 25 is located in the right side plate of the second knuckle housing 16 and fixedly connected to the fourth shaft 15 to rotate clockwise with the fourth shaft 15; the eighth spur gear 26 is located in the right side plate of the first knuckle housing 10 and is sleeved on the third shaft 11, and rotates counterclockwise on the third shaft 11 through meshing with the seventh spur gear 25; a ninth spur gear 27 is located in the right side plate of the first knuckle housing 10, which gear is fixedly connected to the finger rest 3, and the first knuckle housing 13 generates a flexing movement about the second axis 9, i.e. the first joint, due to the engagement with the eighth spur gear 26; the fifth spur gear 17 is located in the right side plate of the second knuckle housing 16 and is fixedly connected with the fifth shaft 18, the fifth spur gear 17 is meshed with the fourth spur gear 14 to enable the fifth shaft 18 to perform counterclockwise rotation, and the sixth spur gear 23 is located in the right side plate of the second knuckle housing 16 and is fixedly connected with the fifth shaft 18, so that the sixth spur gear 23 also performs counterclockwise rotation; the right end of the first knuckle frame 13 is provided with gear teeth and meshed with a sixth straight gear 23, and the rotation of the sixth straight gear 23 causes the second knuckle frame 19 to perform a finger bending motion relative to the distal end of the first knuckle frame 13; fig. 2 is a schematic diagram of the flexion posture of the prosthetic finger.
When fingers do stretching movement, the mechanical transmission process is that the micro motor 1 rotates anticlockwise, the micro speed reducer 2 is used for reducing speed, the output shaft diameter of the micro speed reducer 2 drives the first bevel gear 28 to rotate anticlockwise around the axis of the first bevel gear 28, the second bevel gear 4 meshed with the first bevel gear 28 rotates clockwise, and the first straight gear 7 is positioned in the left side plate of the first knuckle shell 10 and synchronously rotates clockwise along with the second bevel gear 4; a second spur gear 8 meshed with the first spur gear 7 is positioned in the left side plate of the first knuckle housing 10 and is sleeved on the second shaft 9 in a hollow mode, and the second knuckle housing is used as an idler wheel to rotate anticlockwise on the second shaft 9; a third spur gear 12 meshed with the second spur gear 8 is positioned in the left side plate of the first knuckle housing 10 and is sleeved on the third shaft 11 in a hollow manner, and is used as an idler wheel to rotate on the third shaft 11 in a clockwise direction; a fourth spur gear 14 meshed with the third spur gear 12 is positioned in the left side plate of the second knuckle housing 16 and fixedly connected to the fourth shaft 15 to rotate along with the fourth shaft 15 in a counterclockwise direction; the seventh spur gear 25 is located in the right side plate of the second knuckle housing 16 and fixedly connected with the fourth shaft 15 to rotate counterclockwise along with the fourth shaft 15; the eighth spur gear 26 is positioned in the right side plate of the first knuckle housing 10 and is sleeved on the third shaft 9, and rotates clockwise on the third shaft 11 through meshing with the seventh spur gear 25; a ninth spur gear 27 is located in the right side plate of the first knuckle housing 10, which gear is fixedly connected to the finger rest 3, and the first knuckle housing 13 generates a spread finger movement about the second axis 9, i.e. the first joint, due to the engagement with the eighth spur gear 26; the fifth spur gear 17 is located in the right side plate of the second knuckle housing 16 and is fixedly connected with the fifth shaft 18, the fifth spur gear 17 is meshed with the fourth spur gear 14 to enable the fifth shaft 18 to perform clockwise rotation, and the sixth spur gear 23 is located in the right side plate of the second knuckle housing 16 and is fixedly connected with the fifth shaft 18, so that the sixth spur gear 23 also performs clockwise rotation; the right end of the first knuckle frame 13 is provided with gear teeth and meshed with a sixth spur gear 23, and the rotary motion of the sixth spur gear 23 causes the second knuckle frame 19 to perform finger stretching motion relative to the far end of the first knuckle frame 13; fig. 3 is a schematic diagram of the finger-spreading posture of the prosthetic finger.
Claims (5)
1. The utility model provides a train formula under-actuated bionic artificial finger, finger comprises finger body and finger mechanical transmission chain, its characterized in that: the finger body comprises a finger base frame, a first knuckle rack, a first knuckle shell, a second knuckle rack, a second knuckle shell and a third knuckle from the near to the far; the first knuckle frame is connected to the far end of the finger base frame through a second shaft; the first knuckle shell is connected to the first knuckle frame through a second shaft and a third shaft; the second knuckle frame is connected to the far end of the first knuckle frame through a fourth shaft, and the second knuckle shell is connected to the second knuckle frame through a fourth shaft and a fifth shaft; the third knuckle is connected to the second knuckle frame through the first pin and the second pin;
the finger movement transmission chain comprises a micro motor, a micro speed reducer, a first bevel gear, a second bevel gear, a first straight gear, a second straight gear, a third straight gear, a fourth straight gear, a fifth straight gear, a sixth straight gear, a seventh straight gear, an eighth straight gear and a ninth straight gear; the miniature motor and the miniature speed reducer are connected to the finger base frame in an interference connection mode and are positioned at the palm center position; the first bevel gear is fixedly connected to an output shaft neck of the miniature speed reducer, and the rotary motion of the output shaft neck of the miniature speed reducer drives the first bevel gear to synchronously rotate along with the output shaft neck of the miniature speed reducer; the second bevel gear is fixedly connected to a shaft neck at one end of the first shaft, the first shaft is arranged in a hole of the finger base frame and can rotate in the hole, the first shaft is perpendicular to an output shaft of the miniature speed reducer, the second bevel gear is meshed with the first bevel gear, the first straight gear is fixedly connected to a shaft neck at the other end of the first shaft, and an elastic clamping ring is arranged at one end of the first shaft, on which the first straight gear is arranged, so that the straight gear can be axially positioned; the second shaft sequentially passes through the left side plate near-end hole of the first knuckle shell, the second spur gear central hole, the finger base frame inner hole, the first knuckle frame near-end hole, the ninth spur gear central hole and the right side plate near-end hole of the first knuckle shell from left to right, the second shaft is in interference fit with the finger base frame inner hole and is in movable fit with other passing parts, and the second spur gear is meshed with the first spur gear; the ninth spur gear hub is fixedly connected with an inner hole of the finger base frame; the third shaft sequentially passes through a left side plate far end hole, a third spur gear center hole, a first knuckle rack middle hole, an eighth spur gear center hole and a first knuckle shell right side plate far end hole from left to right, the third shaft is in interference fit with the first knuckle rack middle hole and is in movable fit with other parts which pass through the third shaft, the third spur gear is meshed with the second spur gear, and the eighth spur gear is meshed with the ninth spur gear; the fourth shaft sequentially penetrates through a left side plate proximal hole, a fourth spur gear central hole, a first knuckle rack distal hole, a second knuckle rack proximal hole, a seventh spur gear central hole and a right side proximal hole of the second knuckle shell from left to right, the fourth shaft is fixedly connected with the fourth spur gear and the seventh spur gear in the radial direction, and the fourth shaft is in movable fit with other penetrating parts; the fifth shaft penetrates through the far end hole of the left side plate of the second knuckle shell, the center hole of the fifth straight gear, the middle hole of the second knuckle frame, the center hole of the sixth straight gear, the center hole of the spacer bush and the far end hole of the right side of the second knuckle shell in sequence from left to right, the fifth shaft is fixedly connected with the fifth straight gear and the sixth straight gear in the radial direction, and the fifth shaft is in movable fit with other penetrating parts; the first pin sequentially passes through the left near-end hole of the third knuckle, the near-end pin hole of the second knuckle frame and the right near-end hole of the third knuckle from left to right, the second pin sequentially passes through the left far-end hole of the third knuckle, the far-end pin hole of the second knuckle frame and the far-end hole of the third knuckle from left to right, the first pin is in interference fit with parts passing through the first pin, and the second pin is in interference fit with the parts passing through the second pin.
2. The wheel train type under-actuated bionic prosthetic finger according to claim 1, wherein: the first bevel gear center hole is designed as a D-shaped section center hole and sleeved on a D-shaped section output shaft neck of the miniature speed reducer, so that the first bevel gear center hole and the second bevel gear center hole are fixedly connected; the second bevel gear center hole is designed into a D-shaped section center hole and sleeved on a shaft neck of the D-shaped section at one side of the first shaft, so that the second bevel gear center hole is fixedly connected with the first shaft; the first straight gear central hole is designed into a D-shaped section central hole and sleeved on a shaft neck of the D-shaped section at the other side of the first shaft, so that the first straight gear central hole is fixedly connected with the first shaft.
3. The wheel train type under-actuated bionic prosthetic finger according to claim 1, wherein: the periphery of the ninth spur gear hub is of a D-shaped section, and the hub is inserted into a hole with the D-shaped section of the finger base frame to realize fixed connection of the ninth spur gear hub and the finger base frame.
4. The wheel train type under-actuated bionic prosthetic finger according to claim 1, wherein: the periphery of the fourth shaft is a D-shaped section, the center hole of the fourth spur gear is a D-shaped section hole, the center hole of the seventh spur gear is a D-shaped section hole, and the fourth spur gear and the seventh spur gear synchronously rotate.
5. The wheel train type under-actuated bionic prosthetic finger according to claim 1, wherein: the periphery of the fifth shaft is a D-shaped section, the center hole of the fifth spur gear is a D-shaped section hole, the center hole of the sixth spur gear is a D-shaped section hole, and the fifth spur gear and the sixth spur gear synchronously rotate.
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| CN201910057051.0A CN109674562B (en) | 2019-01-22 | 2019-01-22 | Gear train type under-actuated bionic artificial finger |
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| CN201910057051.0A CN109674562B (en) | 2019-01-22 | 2019-01-22 | Gear train type under-actuated bionic artificial finger |
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