CN101811302B - Five-finger independently-driven mechanical artificial hand - Google Patents
Five-finger independently-driven mechanical artificial hand Download PDFInfo
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- CN101811302B CN101811302B CN2010101438068A CN201010143806A CN101811302B CN 101811302 B CN101811302 B CN 101811302B CN 2010101438068 A CN2010101438068 A CN 2010101438068A CN 201010143806 A CN201010143806 A CN 201010143806A CN 101811302 B CN101811302 B CN 101811302B
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Abstract
The invention discloses a five-finger independently-driven mechanical artificial hand, which comprises five fingers and a wrist and is characterized in that the fingers and the wrist commonly have 19 degrees of freedom, wherein each finger is respectively provided with three joints, i.e. a distal interphalangeal joint, a proximal interphalangeal joint and a metacarprophalangeal joint; three joints of each finger are connected with a drive motor through a first line and a second line so as to draw each finger to move; the wrist is provided with three joints, i.e. a joint rotating around a z shaft, a joint rotating around an x shaft and a joint, which is arranged between the joint rotating around the z shaft and the joint rotating around the x shaft, rotates around a y shaft; and the joints of the wrist are provided with windings of the drive motor for driving the wrist to rotate. Compared with the prior art, five fingers of the mechanical artificial hand have similar joint structures to fingers of people and higher degree of freedom; and in addition, the invention has the advantages of simple structure, light weight as well as good flexibility, low cost and flexible motion by pulling hand through lines, so that the invention is beneficial for the disabled to use in daily life.
Description
Technical field
The present invention relates to the mechanical artificial hand in rehabilitation engineering field, particularly relate to a kind of mechanical artificial hand by the control of user's myoelectricity.
Background technology
The action ten minutes dexterity of hand also has complicated function.The mechanical artificial hand in existing rehabilitation engineering field, though possessing practicality aspect weight and the high grip, the free degree is very low when reality is used.In addition, much utilize bionics in addition and the mechanical artificial hand realized, they satisfy suitable weight indicator in order to realize high-freedom degree and ignored, and the little problem of handlebar grip, make it be not suitable for practical application.For example have the product of manufacturer production now, all exist following shortcoming respectively:
1. the existing one emulation hand to three degree of freedom, it only has two to three fingers, and wrist is passive rotation, need adjust in use, the inconvenience that has caused the disabled person to use.In addition, the weight of mechanical artificial hand is big, and the disabled person wears difficulty for a long time;
2. some research institutions has researched and developed and has owed to drive anthropomorphic manipulator, owing to used too much gear mechanism, volume is big, and quality is big, and cost is high, and the disabled person is difficult to actual use.
Summary of the invention
Based on above-mentioned prior art, the present invention proposes a kind of mechanical artificial hand of the five fingers drive, the five fingers of this mechanical artificial hand have similar articulation structure with people's hand finger, by corresponding driven by motor open independently, closing motion; Thumb can lateral rotation, thereby makes thumb produce the side direction squeeze motion to all the other finger orientations.In addition, there are three cradle head axles at the wrist place of this mechanical artificial hand, makes mechanical artificial hand can produce interior inner rotary, spins upside down the side direction left-right rotation.
The mechanical artificial hand of a kind of the five fingers drive that the present invention proposes; Comprise five fingers i.e. a thumb, a forefinger, a middle finger, nameless and a little finger of toe and a wrist: said finger and wrist have 19 frees degree altogether: wherein; It is distal interphalangeal joint, proximal interphalangeal joint and metacarpophalangeal joints that every finger has three joints respectively; Three joints of said every finger are connected with drive motors with second line through first line, to draw the motion of every finger; Said wrist is provided with three joints promptly around the joint of z axle rotation, the joint that centers on the rotation of an x axle and setting joint around the rotation of y axle between the two, and the joint of said wrist is provided with the coiling drive wrist of drive motors and rotates; Thumb joint also has a cradle head except that above-mentioned three joints, this joint makes thumb carry out lateral rotation to all the other four finger directions; The coiling that the joint of said wrist is provided with drive motors be wrist around the turning cylinder of the joint of z axle rotation and said thumb above the turning cylinder of the joint of z axle rotation, be fixed with respectively two groups different around to line, realize the vertical rotation of wrist and thumb respectively through the rotating of corresponding motor;
Said drive motors adopts a drive motors;
Said first line is connected with same drive motors respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration; The metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger;
Said first line is connected with same drive motors respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration; First line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger, and the metacarpophalangeal joints that second line connects the control finger rotate;
Said drive motors adopts two drive motors;
The motion in the same way under the driving of first drive motors and second drive motors respectively of said first line and said second line, wherein, the metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger;
Said drive motors and mechanical artificial hand branch are arranged.
Compared with prior art, the present invention simulates the architectural characteristic of staff especially, has developed a kind of new mechanical emulation hand; The five fingers of this mechanical artificial hand have similar articulation structure with people's hand finger, but the free degree is higher, and simple in structure; Light weight, and it is good to use line pulling hand to carry out motion flexibility, cost is low; Therefore motion helps the disabled person and uses in daily life flexibly; Finger has three turning joints, can stablize and hold difform object, is convenient to the daily use of disabled person.
Description of drawings
Fig. 1 is the structural representation of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 2 is the embodiment sketch map of first kind of type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 3 is the embodiment sketch map of second kind of type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 4 is the embodiment sketch map of the third type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 5 is the winding mode sketch map of the vertical rotation with wrist of thumb of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 6 is three cradle head structural representations in wrist place of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 7 is the winding mode sketch map of wrist side direction left-right rotation of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 8 spins upside down the winding mode sketch map of motion for the wrist of the mechanical artificial hand of the five fingers drive of the present invention.
The specific embodiment
Conceptual design thought of the present invention is that anthropomorphic dummy's swivel of hand architectural characteristic has been developed a mechanical mechanical artificial hand with 19 frees degree; As shown in Figure 1; This mechanical artificial hand has 5 fingers, shown in digital 1-5 among Fig. 1, is respectively thumb, forefinger, middle finger, the third finger, little finger of toe.Each finger all has DIP joint (DIP; Distal interphalangeal joint, distal interphalangeal joint), PIP (PIP, Proximal interphalangeal joint; Proximal interphalangeal joint) and MP (MP, metacarpophalangeal joint metacarpophalangeal joints)
Thumb joint except that above-mentioned three joints, also has a cradle head (shown in " d " among Fig. 1), and this joint makes thumb carry out lateral rotation to all the other four finger directions, and the corresponding direction of motion is shown in the arrow among Fig. 1.In addition, the wrist place of this mechanical artificial hand also has three cradle heads, in Fig. 1, is denoted as " q ", " r ", " s ", and the corresponding direction of motion is shown in the arrow among Fig. 1.Cradle head " q " makes inner rotary in the machine emulated winding by hand z axle, and cradle head " r " makes machine emulated winding by hand y axle spin upside down, and cradle head " s " makes machine emulated winding by hand x axle left and right sides lateral rotation.These cradle heads are adopted and interfere type of drive, use driven by motor line traction hand joint to move, and the drive motors part is separated with hand, have alleviated the hand quality, are convenient to the disabled person and wear use.
To user's different condition and physiological motion mode, take three kinds of different interference type of drive in the different articular portion of emulation hand finger, in Fig. 2-4, introduce respectively.In Fig. 2, line 1 is connected with same motor respectively with line 2 and motion in the same way, but the radius of gyration of line 1 greater than the radius of gyration of line 2, the MP joint rotation of line 1 control finger, the DIP joint and the PIP joint rotation of line 2 control fingers.
In Fig. 3, line 1 is connected with same motor respectively with line 2 and motion in the same way, but the radius of gyration of line 1 greater than the radius of gyration of line 2, DIP joint and the PIP joint rotation of line 1 control finger, the MP joint rotation that line 2 controls are pointed.
In above-mentioned two kinds of structures, it is bigger that the driven by motor line 1 that the radius of gyration is bigger is accomplished strength, the action that range of movement is bigger; It is less that the less driven by motor line 2 of the radius of gyration is accomplished strength, the action that range of movement is less.
In Fig. 4; Line 1 and line 2 motion in the same way under the driving of motor 1 and motor 2 respectively; The MP joint rotation of line 1 control finger, the DIP joint and the PIP joint rotation of line 2 control fingers, the relative size of the radius of gyration of the radius of gyration of line 1 and line 2 can be adjusted as required.
The grip that above-mentioned three kinds of joints drive the designing institute generation is big, and the finger velocity of rotation is fast, but owing to used two motors, causes the quality of whole machine emulated arm device to increase to some extent.
In order to reduce the use of motor, the winding mode that thumb is located around the joint " q " of z axle rotation around the joint " d " and the wrist of the rotation of z axle is as shown in Figure 5.Be arranged on the turning cylinder that thumb locates around the joint " d " of z axle rotation on the turning cylinder of locating around the joint " q " of z axle rotation with wrist; Be fixed with respectively two groups of differences around to line; The clockwise rotating of corresponding motor, rotate counterclockwise (the actual situation line arrow in the reference diagram on the motor) down, this turning cylinder will produce rotating counterclockwise and clockwise rotating around the z axle respectively.
In addition, there are three cradle head axles at the wrist place of this mechanical artificial hand, makes mechanical artificial hand can produce interior inner rotary, spins upside down the side direction left-right rotation.The structural representation of three turning cylinders in mechanical artificial hand wrist place is as shown in Figure 6." q " among " q " among Fig. 6, " r ", " s " joint and Fig. 1, " r ", " s " joint are consistent, and " q " is the joint around the rotation of z axle, and " r " is the joint around the rotation of y axle, and " s " is the joint around the rotation of x axle.Between " q " joint and " r " joint an excessive joint is arranged, in order to connect both; Between " r " joint and " s " joint an excessive joint is arranged also, in order to connect both.
Wrist is as shown in Figure 7 around the mechanism of x axle rotation, and line is connected the excessive joint between " r " joint and " s " joint, and when motor a clockwise rotated, hand is lateral rotation (rotation direction shown in the solid arrow line among Fig. 7) left; When motor a rotated counterclockwise, hand is lateral rotation (rotation direction shown in the empty arrow line among Fig. 7) to the right.
Wrist is as shown in Figure 8 around the mechanism of y axle rotation, and line is opposite to being wrapped on " r " joint with two kinds, when motor b clockwise rotates, and hand will overturn downwards (rotation direction shown in the solid arrow line among Fig. 8); When motor b rotates counterclockwise, hand will upwards overturn (rotation direction shown in the empty arrow line among Fig. 8).
Device such as motor and battery and machine emulated hand portion leave, and concentrated being fixed between people's waist, thereby alleviate the quality of hand, are convenient to actual use the in disabled person's daily life.
Mechanical artificial hand of the present invention uses lightweight materials such as plastics or alloy to make, and light weight is easy to use, and the drive motors part is separated with hand, has alleviated the hand quality, is convenient to the disabled person to wear use; More than, take three kinds of different interference type of drive, increased the function of use of mechanical prosthetic hand at finger part to different users; The wrist position is equipped with 3 turning cylinders, makes to do evil through another person and can rotate, and is easy to use; On this surface of doing evil through another person piezoelectric transducer can be installed, hold the situation of object, thereby control is done evil through another person and held object effectively so that do evil through another person to control chip feedback.
Claims (7)
1. the mechanical artificial hand of a five fingers drive; Comprise five fingers i.e. a thumb, a forefinger, a middle finger, nameless and a little finger of toe and a wrist; It is characterized in that said finger and wrist have 19 frees degree altogether: wherein, it is distal interphalangeal joint, proximal interphalangeal joint and metacarpophalangeal joints that every finger has three joints respectively; Three joints of said every finger are connected with the finger actuation motor with second line through first line, to draw the motion of every finger; Three joints of said wrist setting are promptly around the joint of z axle rotation, the joint that centers on the rotation of an x axle and setting joint around the rotation of y axle between the two; The coiling that the joint of said wrist is provided with the wrist drive motors drives the wrist rotation; Thumb joint is except that above-mentioned three joints; Also have a cradle head, this joint makes thumb carry out lateral rotation to all the other four finger directions; The coiling that the joint of said wrist is provided with the wrist drive motors be wrist around the turning cylinder of the joint of z axle rotation and said thumb above the turning cylinder of the joint of z axle rotation fixing respectively two groups different around to line, realize the vertical rotation of wrist and thumb respectively through the corresponding wrist drive motors and the rotating of finger actuation motor corresponding motor.
2. the mechanical artificial hand of the five fingers drive as claimed in claim 1 is characterized in that, said finger actuation motor adopts a drive motors.
3. the mechanical artificial hand of the five fingers drive as claimed in claim 2; It is characterized in that; Said first line is connected with same finger actuation motor respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration, and the metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger.
4. the mechanical artificial hand of the five fingers drive as claimed in claim 2; It is characterized in that; Said first line is connected with same finger actuation motor respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration, and first line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger, and the metacarpophalangeal joints that second line connects the control finger rotate.
5. the mechanical artificial hand of the five fingers drive as claimed in claim 1 is characterized in that, said finger actuation motor adopts two drive motors.
6. the mechanical artificial hand of the five fingers drive as claimed in claim 5; It is characterized in that; The motion in the same way under the driving of the first finger drive motors and second finger drive motors respectively of said first line and said second line; Wherein, the metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger.
7. the mechanical artificial hand of the five fingers drive as claimed in claim 1, said finger actuation motor and wrist drive motors all are arranged with the mechanical artificial hand branch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101438068A CN101811302B (en) | 2010-04-12 | 2010-04-12 | Five-finger independently-driven mechanical artificial hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101438068A CN101811302B (en) | 2010-04-12 | 2010-04-12 | Five-finger independently-driven mechanical artificial hand |
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| CN101811302A CN101811302A (en) | 2010-08-25 |
| CN101811302B true CN101811302B (en) | 2012-09-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102940928B (en) * | 2012-12-07 | 2014-09-24 | 机械科学研究总院先进制造技术研究中心 | Pus sucking and medicine applying equipment and method for haemorrhoid operations |
| CN104997579B (en) * | 2015-07-30 | 2018-02-16 | 沈阳工业大学 | Intelligent myoelectric limb hand with high precision small bracing wire control system |
| CN107789101A (en) * | 2016-09-01 | 2018-03-13 | 湖南能手科技有限公司 | A kind of intelligent myoelectric limb arm device |
| CN107432816B (en) * | 2017-09-21 | 2019-07-16 | 哈尔滨工业大学 | A kind of exoskeleton robot of thumb functional rehabilitation |
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| CN1651200A (en) * | 2005-01-26 | 2005-08-10 | 浙江理工大学 | Robot pneumatic shillful hand |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN101214648A (en) * | 2008-01-18 | 2008-07-09 | 南京航空航天大学 | Five-finger intelligent hand driven by ultrasound electric motor |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005349489A (en) * | 2004-06-08 | 2005-12-22 | Sharp Corp | Multi-finger hand of multi-degree of freedom |
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2010
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| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| CN1651200A (en) * | 2005-01-26 | 2005-08-10 | 浙江理工大学 | Robot pneumatic shillful hand |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN101214648A (en) * | 2008-01-18 | 2008-07-09 | 南京航空航天大学 | Five-finger intelligent hand driven by ultrasound electric motor |
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Non-Patent Citations (2)
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Effective date of registration: 20160331 Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215316 Zuchongzhi Road No. 1666 Tsinghua Science Park Building No. 1 Patentee after: Suzhou Sansheng Robot Technology Co Ltd Address before: Jinxi road Binhu District 214082 Jiangsu city of Wuxi province No. 100 Patentee before: Duan Feng |
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Effective date of registration: 20180320 Address after: 300072 Southwest Village, Nankai University, Nankai District, Nankai District, 4-301, 4-301 Patentee after: Duan Feng Address before: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215316 Zuchongzhi Road No. 1666 Tsinghua Science Park Building No. 1 Patentee before: Suzhou Sansheng Robot Technology Co Ltd |
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