Five-degree-of-freedom artificial hand mechanism

A technology of degrees of freedom and prosthetic hands, applied in the direction of manipulators, program-controlled manipulators, artificial arms, etc., can solve problems such as single degrees of freedom and inability to realize individual movements of each finger, so as to increase degrees of freedom, improve finger flexibility, and use safely and reliably Effect

Inactive Publication Date: 2010-08-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a five-degree-of-freedom prosthetic hand mechanism to solve the problem that the existing prosthetic hand has a single degree of freedom and cannot realize individual movement of each finger

Method used

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Experimental program
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specific Embodiment approach 1

[0008] Specific implementation mode one: combine Figure 1-Figure 17 Describe this embodiment, the prosthetic hand mechanism of this embodiment is made up of palm 6, five drivers, five speed reducers, five transmission mechanisms, five potentiometers, five bases, palm circuit board 7 and wrist 8; The five drivers are respectively thumb driver 1-1, index finger driver 2-1, middle finger driver 3-1, ring finger driver 4-1 and little finger driver 5-1, and the five reducers are respectively thumb reducer 1-2, Index finger reducer 2-2, middle finger reducer 3-2, ring finger reducer 4-2 and little finger reducer 5-2, the five transmission mechanisms are respectively thumb transmission mechanism 1-5, index finger transmission mechanism 2-5, Middle finger transmission mechanism 3-5, ring finger transmission mechanism 4-5 and little finger transmission mechanism 5-5, the five potentiometers are thumb potentiometer 1-3, index finger potentiometer 2-3, middle finger potentiometer 3-3, ...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination Figure 14-Figure 17Describe this embodiment, the thumb speed reducer 1-2 of this embodiment is a harmonic reducer (Harmonic reducer), the thumb driver 1-1 is a DC motor, and the thumb transmission mechanism 1-5 is composed of a thumb small bevel gear 1-5-1 , connecting shaft 1-5-2, thumb big bevel gear 1-5-3, first pin 1-5-4, thumb connecting sleeve 1-5-5, thumb big bevel gear shaft 1-5-6 and thumb steel wire The wheel is composed of 1-5-7; the rigid wheel of the thumb reducer 1-2 is connected with the thumb base 1-4, and the flexible wheel of the thumb reducer 1-2 and the thumb bevel gear 1-5-1 are connected by a connecting shaft 1-5-2 transmission connection, the thumb small bevel gear 1-5-1 meshes with the thumb bevel gear 1-5-3, and the thumb connecting sleeve 1-5 is housed in the inner hole of the thumb bevel gear 1-5-3 -5, the thumb connection sleeve 1-5-5 is set on the thumb bevel gear shaft 1-5-6, the thumb bevel g...

specific Embodiment approach 3

[0010] Specific implementation mode three: combination figure 1 , Image 6 and Figure 7 Describe this embodiment, the index finger speed reducer 2-2 of this embodiment is a planetary gear reducer (Planetary gearhead), the index finger driver 2-1 is a DC motor, the index finger transmission mechanism 2-5 is formed by the index finger small bevel gear 2-5-1 , the index finger bevel gear 2-5-2, the second pin 2-5-3, the index finger connecting sleeve 2-5-4, the index finger bevel gear shaft 2-5-5 and the index finger wire wheel 2-5-6; The index finger base 2-4 is composed of the index finger support seat 2-4-1 and the index finger fixing plate 2-4-2, and the index finger driver 2-1 and the index finger reducer 2-2 are connected with the index finger fixing plate 2-4. -2 connection, the index finger fixed plate 2-4-2 is connected with the index finger support seat 2-4-1 (connected by screws in the present embodiment), the output end of the index finger reducer 2-2 is connected ...

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Abstract

The invention provides a five-degree-of-freedom artificial hand mechanism, relates to an artificial hand mechanism and aims to solve the problems that the conventional artificial hand has single degree of freedom and cannot realize independent movement of each finger. Five drivers, five reducers and a palm circuit board are all integrated in a cavity of a palm; a thumb driver and a thumb reducer are arranged along a width direction of the palm, the four drivers except the thumb driver and the four reducers except the thumb reducer are arranged along a length direction of the palm, and a wrist and the palm are rotatably connected relatively; each driver is in transmission connection with the corresponding reducer, and the reducer is in transmission connection with a corresponding transmission mechanism; and a rotating part of each potentiometer is connected with the corresponding transmission mechanism, and the transmission mechanism is supported on a corresponding substrate. The five-degree-of-freedom artificial hand mechanism has five degree-of-freedom, and improves the flexibility of the artificial hand; and due to the simple and reliable transmission, relative motion of each finger is realized, and adaptive grasping of objects of different shapes and sizes is also realized.

Description

technical field [0001] The invention relates to an artificial hand mechanism. Background technique [0002] The human hand is the most complex and delicate tool for human beings to survive and work. The absence of hands not only makes people lose their important functions but also suffers psychological damage. Due to reasons such as traffic accidents, work-related injuries and diseases, the number of people with disabilities has increased significantly, which is a serious social problem worldwide. [0003] The ideal prosthetic hand should be the same as the real hand in shape and function. It can not only replace the sensory and motor functions of the human hand, but also have the same shape as the human hand. But current technology is far from meeting this ideal requirement. The human body upper limb mechanism model has 27 degrees of freedom, of which the finger part has 20 degrees of freedom, but the current scientific level cannot achieve an electronic prosthetic hand w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08A61F2/54
Inventor 刘伊威高一夫
Owner HARBIN INST OF TECH
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