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 proble

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0007] Specific implementation mode 1: Combination figure 1 , figure 2 To illustrate this embodiment, this embodiment is composed of the palm 1, the base 2 fixedly connected to the palm 1, the little finger 3, the ring finger 4 and the middle finger 5, and the base joint shaft 6 which are sequentially installed in the groove of the base 2; The little finger 3 is made up of the little finger tip shaft 3-2 connected with the little finger tip 3-1, the little thumb connecting rod pin 3-3, the little thumb connecting rod 3-4, the spring bracket 3-5, and the spring stop pin 3-6 , Little thumb torque sensor 3-7, little thumb left plate 3-8, little thumb right plate 3-9, little thumb torsion spring 3-10; the ring finger 4 is fixed on the ring finger middle joint axis 4-1 Middle joint connecting rod pin 4-2, large bevel gear 4-3, large bevel gear sleeve 4-4, ring finger torque sensor 4-5, ring finger torsion spring 4-6, ring finger torsion spring sleeve 4-7, small Bevel gear 4-8, small b...

Example Embodiment

[0009] Specific embodiment two: This embodiment is described with reference to the figure. The difference between this embodiment and the specific embodiment 1 is: the little finger 3 of this embodiment also has a spring bracket positioning pin 3-11; the spring bracket 3-5 The positioning pin 3-11 is fixedly connected with the base joint shaft 6 through the spring bracket. The above 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 big bevel gear 4-3 drives the base joint shaft 6 to rotate through the big bevel gear sleeve 4-4, thereby driving the middle finger 5, the spring bracket 3-5 of the little thumb 3 and the middle finger spring bracket 5-6 to move, and the middle finger spring bracket 5 ...

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PUM

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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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