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Linkage mechanism of drive-free self-adapting artificial hand

A linkage mechanism and self-adaptive technology, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of weak self-adaption and inability to realize linkage, etc., and achieve strong self-adaptability, overall weight reduction and stable grip Effect

Inactive Publication Date: 2006-07-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing underactuated self-adaptive prosthetic hand device can only realize the serial movement of the middle finger, the ring finger and the little finger, but cannot realize the linkage, and there is also the problem that the grip self-adaptation is not strong during use, and the grip cannot be very fast. An underactuated adaptive prosthetic hand linkage mechanism that can not only realize the linkage of fingers, but also has better adaptive ability to solve the problem of enveloping complex shape objects

Method used

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  • Linkage mechanism of drive-free self-adapting artificial hand
  • Linkage mechanism of drive-free self-adapting artificial hand

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Experimental program
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specific Embodiment approach 1

[0007] Specific implementation mode one: combine figure 1 , figure 2 Describe this embodiment, this embodiment is made up of palm 1, the base 2 that is fixedly connected with palm 1, the little finger 3 that is contained in the groove of base 2 in turn, ring finger 4 and middle finger 5, base joint shaft 6; The little finger 3 is by the little finger tip shaft 3-2 connected with the little finger tip 3-1, the little finger connecting rod pin shaft 3-3, the little finger connecting rod 3-4, the spring support 3-5, the spring stop pin 3-6 , little finger torque sensor 3-7, little finger left side plate 3-8, little finger right side plate 3-9, little finger torsion spring 3-10; described ring finger 4 is made up of the ring finger fixed on the middle joint shaft 4-1 of the ring finger Middle joint connecting rod pin 4-2, large bevel gear 4-3, large bevel gear bushing 4-4, ring finger torque sensor 4-5, ring finger torsion spring 4-6, ring finger torsion spring sleeve 4-7, small...

specific Embodiment approach 2

[0009] Specific embodiment 2: This embodiment is described in conjunction with the drawings. The difference between this embodiment and specific embodiment 1 is: the little finger 3 of this embodiment also has a spring support positioning pin 3-11; the spring support 3-5 The positioning pin 3-11 of the spring support is fixedly connected with the base joint shaft 6. The above-mentioned structure has the advantages of simple structure, safe and reliable use.

[0010]Working principle: the output shaft of the motor 4-12 drives the reducer 4-11 to rotate, the output shaft of the reducer 4-11 drives the small bevel gear 4-8 to rotate, and the small bevel gear 4-8 drives the large bevel gear 4-3 to move; The movement of the large bevel gear 4-3 drives the base joint shaft 6 to rotate through the large bevel gear bushing 4-4, thereby driving the spring support 3-5 of the middle finger 5 and the little finger 3 and the spring support 5-6 of the middle finger to move, and the spring s...

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Abstract

The invention relates the anthropoid mechanical arm device. The invention solves the problem that self-adaptive artificial hand only can not realize the linkage. The little finger torsion spring (3-10) is connected with little finger torque pick-up (3-7) installed on fulcrum (6), the big bevel gear (4-3) fixed on fulcrum (6) is contacted with bevel pinion (4-8) fixed on decelerator (4-11), decelerator (4-11) is connected with motor (4-12), ring finger torsion spring (4-6) is connected with ring finger torque pick-up (4-5) and middle finger spring support (5-6) fixed on fulcrum (6), and the middle finger torsion spring (5-9) is connected with middle finger spring support (5-6) and middle finger torque pick-up (5-8) fixed on fulcrum (6). The structure can realize finger linkage.

Description

technical field [0001] The invention relates to an anthropomorphic manipulator, in particular to a linkage mechanism of an underactuated self-adaptive prosthetic hand. Background technique [0002] An important device of an anthropomorphic robot is the manipulator, and the ability of the manipulator to grasp objects is directly determined by the structure of the manipulator. And the existing under-actuated self-adaptive prosthetic device (patent publication number is CN1557268A) drives the pulley on the left side of the middle finger base through the middle finger base joint shaft, thereby drives the spring bracket movement of the ring finger and the little finger in series, and the springs on the spring bracket respectively Drive the ring finger and little finger movement. Since the pulley and the spring bracket of the mechanism are connected in series, only the serial movement of the middle finger, ring finger and little finger can be realized, that is, when the middle fi...

Claims

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Application Information

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IPC IPC(8): B25J15/08
Inventor 刘宏姜力刘伊威黄海
Owner HARBIN INST OF TECH
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