Electric motor built-in false finger

A built-in, artificial finger technology, applied in the field of artificial fingers, can solve the problem of insufficient space for the artificial hand to effectively use, achieve the effect of anthropomorphizing the movement mode, improving the degree of integration, and reducing the volume

Inactive Publication Date: 2009-09-23
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 of insufficient effective us

Method used

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  • Electric motor built-in false finger
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  • Electric motor built-in false finger

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: combine Figure 1 to Figure 6 Describe this embodiment, the motor built-in artificial finger of this embodiment comprises miniature disc type brushless motor 20, transmission mechanism and finger mechanism, and described transmission mechanism is made up of planetary reducer 21, small bevel gear 42, first slide bearing 43, Large bevel gear 26, connecting rod 6, pretension sheave 24, transmission sheave 17, two wire ropes 16, wire rope pretension block 29, second sliding bearing 27, second shaft 37, fifth sliding bearing 39, four Wire rope connection ball 44, the first small spur gear 41, the first large spur gear 34, the second small spur gear 35 and the second large spur gear 38, the finger mechanism includes a base 1, a first shaft 40, a third Shaft 18, the 4th shaft 12, the 3rd slide bearing 48, the 4th slide bearing 28, base phalanx, middle phalanx and far phalanx 11, described base phalanx is by the base phalanx left side board 23 ...

specific Embodiment approach 2

[0008] Specific implementation mode two: see figure 1 and image 3 , the motor built-in artificial finger of the present embodiment is also added with a position sensor, the position sensor is composed of a potentiometer 32, a sliding bearing 33 and a potentiometer connecting plate 31, and the potentiometer connecting plate 31 is set on the second shaft 37 And fixed on the inner wall of the base 1, the potentiometer 32 is fixed on the potentiometer connecting plate 31 and connected with the second shaft 37 through the sliding bearing 33, the lower end of the sliding bearing 33 is fixed with the first large spur gear 34 catch. With such setting, the absolute position of the base joint can be obtained through conversion of the voltage change of the potentiometer. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0009] Specific implementation mode three: see Figure 4 , the motor-built-in prosthetic finger of this embodiment is also added with a torque sensor, and the torque sensor is composed of two strain gauges 49, and the two strain gauges 49 are symmetrically attached to the left side plate 23 of the base knuckle along the axis of the prosthetic finger superior. In this way, the torque can be obtained through the conversion of the change of the strain gauge. The strain gauges are symmetrically attached to the moment-sensitive part of the left plate of the base knuckle, and the moment-sensitive part of the left plate of the base knuckle is the part that bears all the torque of the finger. Other compositions and connections are the same as those in the second embodiment.

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Abstract

The invention relates to an electric motor built-in false finger, which solves the problem that the effective utilization space of the existing artificial hand is insufficient. In the electric motor false finger, a microdisk type brushless electric machine is arranged in a base knuckle; a planetary reduction gear is arranged in the base knuckle, and an output shaft of the planetary reduction gear which is connected with a cone pinion which is externally meshed with a big bevel gear; a pre-tightening rope pulley is arranged on a first shaft of the middle between a substrate and a left side plate of the base knuckle; the big bevel gear is fixedly arranged on a circular end face of a first small straight gear; a first big straight gear is externally meshed with the first small straight gear; a second small straight gear is externally meshed with a second big straight gear which is fixedly connected with the left side plate of the base buckle; a transmission rope is arranged on a third shaft; the pre-tightening rope pulley is connected with the transmission rope by two wire cables; a connecting rod is connected with a far knuckle by a sixth shaft. The invention integrates the electric motor and an actuating mechanism in the interior of the finger, occupies small volume of a palm, has sufficient effective utilization space and liberates the space of the palm.

Description

technical field [0001] The invention relates to a fake finger, in particular to a motor built-in fake finger. Background technique [0002] Since the 1980s and 1990s, with the rapid development of robotic dexterous hand technology, anthropomorphic manipulators have made great progress in terms of shape, weight, degree of freedom configuration, and sensory functions. As the function of prosthetic hand is improved and the function of prosthetic hand is perfected day by day, the problem of insufficient volume of prosthetic hand for effective use becomes more and more significant, which has become a bottleneck restricting the further development of prosthetic hand. Contents of the invention [0003] The object of the present invention is to solve the problem of insufficient effective use of space in existing prosthetic hands, and further provide a motor-built-in prosthetic finger. [0004] The motor-built-in artificial finger of the present invention includes a micro-disk bru...

Claims

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Application Information

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IPC IPC(8): A61F2/54A61F2/70
Inventor 杨会生姜力刘伊威刘宏
Owner HARBIN INST OF TECH
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