A dexterous hand driving mechanism

Abstract

The utility model provides a dexterous hand driving mechanism, which relates to the technical field of manipulators, including a palm body, wherein four groups of movable mechanisms are arranged on the surface of the palm body from left to right, each group of the movable mechanisms includes proximal knuckles, middle knuckles, distal knuckles, a first turntable and a second turntable, the first turntable is rotatably connected to the front surface of the palm body via a first rotating shaft, a first motor is started to drive the first turntable to rotate via the first rotating shaft, the rotation of the first turntable drives the first tendon rope on the surface to telescope and move, the movement of the first tendon rope drives the third rotating shaft and the fourth rotating shaft to rotate, thereby driving the proximal knuckles, middle knuckles and distal knuckles to rotate, similarly, the second motor drives the proximal knuckles, middle knuckles and distal knuckles to rotate via the second tendon rope, and the control of the first tendon rope and the second tendon rope is used to drive the connecting shaft to swing left and right using the fifth rotating shaft, thereby realizing the swinging and bending functions of the proximal knuckles, middle knuckles and distal knuckles, thereby improving the use efficiency of the dexterous hand.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a dexterous hand driving mechanism. Background Art

[0002] As an important organ of the human body, the hand is not only a delicate structure, but also an important and flexible mechanical structure. It can complete the actions of grasping, rotating, pinching and manipulating various tools. Therefore, many things in daily life have to be done by hands. With the development of society, human activities are becoming more frequent, and the trend of some people suffering from arm disability due to accidents or other reasons is increasing. The traditional treatment for arm disability is to install ordinary prostheses. However, with the rapid development of intelligent application fields and the continuous improvement of automation levels, ordinary prostheses can no longer meet the daily needs of patients with arm loss. Therefore, we are eager to improve the flexibility of prostheses so that disabled people can complete complex and subtle operation tasks to a large extent. In this context, the research on underactuated manipulators has become one of the hot research directions in the field of robotics research.

[0003] The existing announcement number is CN218364806U, which discloses a multi-finger dexterous manipulator based on an under-actuated mechanism, wherein flexible rubber rings are fixedly bonded at the end side positions of the mounting tube, and an mounting chamber is opened inside the mounting tube, and extrusion limiting airbags are fixedly bonded at equal angles at the inner side ends of the mounting chamber, and an air intake duct is penetrated and connected at the corresponding positions of the edge of the mounting tube and the extrusion limiting airbag. The utility model utilizes the mounting tube to install and connect the user's hand to the manipulator, thereby improving the convenience of installation. At the same time, gas is introduced into the extrusion limiting airbag through the air intake duct, and the hand in the mounting tube is squeezed and limited by multiple positions and multiple numbers of extrusion limiting airbags, thereby ensuring the stability of the user's hand in the mounting tube. At the same time, this installation method is easy to operate, has strong adaptability, can meet the installation requirements of different users' hands, and is convenient for the subsequent promotion and application of manipulators.

[0004] When the existing dexterous hands are moving, the fingers cannot change to various angles. When grasping objects, due to the limited range of movement, the grasping of objects is not firm enough, which has certain limitations. Utility Model Content

[0005] The purpose of the utility model is to solve the problem that the fingers of the existing dexterous hands cannot change to various angles when performing activities and that the grasping of objects is not firm enough due to the limited range of movement when grasping objects, which has certain limitations.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a dexterous hand driving mechanism, including a palm body, four groups of movable mechanisms are arranged on the surface of the palm body from left to right, each group of the movable mechanisms includes proximal knuckles, middle knuckles, distal knuckles, a first turntable and a second turntable, the first turntable is rotatably connected to the front surface of the palm body via a first rotating shaft, the second turntable is rotatably connected to the front surface of the palm body via a second rotating shaft, the proximal knuckles and middle knuckles are rotatably connected via a third rotating shaft, the middle knuckles and distal knuckles are rotatably connected via a fourth rotating shaft, a first tendon rope is slidably arranged on the surface of the first turntable, the other end of the first tendon rope passes through the third rotating shaft and the left end of the fourth rotating shaft in sequence, a second tendon rope is slidably arranged on the surface of the second turntable, the other end of the second tendon rope passes through the third rotating shaft and the right end of the fourth rotating shaft in sequence.

[0007] Preferably, four groups of support frames are fixedly installed on the surface of the palm body from left to right, and a connecting shaft is rotatably connected between the inner walls on the front and rear sides of the inner cavity of each support frame.

[0008] Preferably, each of the connecting shafts is rotationally connected to the adjacent proximal phalanx via a fifth rotating shaft, and a non-slip rubber plate is fixedly provided on the surface of each distal phalanx.

[0009] Preferably, the palm body inner cavity is provided with four groups of movable grooves, each group of the movable groove inner cavity is fixedly installed with a first motor and a second motor, the output end of the first motor is fixedly connected to one end of the first rotating shaft, and the output end of the second motor is fixedly connected to one end of the second rotating shaft.

[0010] Preferably, a heat dissipation fan is fixedly installed on the inner wall of the movable groove, and heat dissipation holes are opened on the surface of the movable groove.

[0011] Preferably, a plurality of first induction sheets and second induction sheets are fixedly mounted on the surface of the palm body, the first induction sheets are electrically connected to the first motor, and the second induction sheets are electrically connected to the second motor.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. By setting up a movable mechanism, the user controls the corresponding first motor and second motor through the first sensing plate and the second sensing plate. When the first motor is started, it drives the first turntable to rotate through the first rotating shaft. The rotation of the first turntable drives the first tendon rope on the surface to move telescopically. The movement of the first tendon rope drives the third rotating shaft and the fourth rotating shaft to rotate, thereby driving the proximal knuckle, middle knuckle and distal knuckle to rotate. Similarly, the second motor drives the proximal knuckle, middle knuckle and distal knuckle to rotate through the second tendon rope. By controlling the first tendon rope and the second tendon rope and using the fifth rotating shaft to drive the connecting shaft to swing left and right, the swinging and bending functions of the proximal knuckle, middle knuckle and distal knuckle are realized, thereby improving the efficiency of using dexterous hands.

[0014] 2. By setting a cooling fan, the surface temperature of the first motor and the second motor rises after starting, and the cooling fan is used to diffuse the temperature of the first motor and the second motor outward through the cooling holes, thereby extending the service life of the first motor and the second motor, that is, the durability of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional structural schematic diagram of a dexterous hand driving mechanism is proposed for the utility model;

[0016] Figure 2 The utility model provides a schematic diagram of the internal cross-sectional structure of a dexterous hand driving mechanism from a side view;

[0017] Figure 3 The utility model proposes a dexterous hand drive mechanism Figure 2 The enlarged schematic diagram at A in the middle;

[0018] Figure 4 The utility model provides a schematic diagram of the overall rear structure of a dexterous hand driving mechanism.

[0019] Legend: 1. Palm body; 2. Movable mechanism; 3. Proximal knuckle; 4. Middle knuckle; 5. Distal knuckle; 6. First turntable; 7. Second turntable; 8. First rotating shaft; 9. Second rotating shaft; 10. Third rotating shaft; 11. Fourth rotating shaft; 12. First tendon rope; 13. Second tendon rope; 14. Support frame; 15. Connecting shaft; 16. Fifth rotating shaft; 17. Anti-slip rubber plate; 18. Movable slot; 19. First motor; 20. Second motor; 21. Cooling fan; 22. Cooling hole; 23. First induction plate; 24. Second induction plate. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0022] Example 1

[0023] like Figure 1-Figure 4As shown, the utility model provides a technical solution: a dexterous hand driving mechanism, including a palm body 1, four groups of movable mechanisms 2 are arranged on the surface of the palm body 1 from left to right, each group of movable mechanisms 2 includes a proximal phalanx 3, a middle phalanx 4, a distal phalanx 5, a first turntable 6 and a second turntable 7, the first turntable 6 is rotatably connected to the front surface of the palm body 1 through a first rotating shaft 8, the second turntable 7 is rotatably connected to the front surface of the palm body 1 through a second rotating shaft 9, the proximal phalanx 3 and the middle phalanx 4 are rotatably connected through a third rotating shaft 10, the middle phalanx 4 and the distal phalanx 5 are rotatably connected through a fourth rotating shaft 11, a first tendon rope 12 is slidably arranged on the surface of the first turntable 6, the other end of the first tendon rope 12 passes through the third rotating shaft 10 and the left end of the fourth rotating shaft 11 in sequence, a second tendon rope 13 is slidably arranged on the surface of the second turntable 7, the other end of the second tendon rope 13 passes through the third rotating shaft 10 and the right end of the fourth rotating shaft 11 in sequence.

[0024] Four groups of support frames 14 are fixedly installed on the surface of the palm body 1 from left to right, and a connecting shaft 15 is rotatably connected between the inner walls on both sides of the inner cavity of each support frame 14.

[0025] Each connecting shaft 15 is rotationally connected to the adjacent proximal phalanx 3 via a fifth rotating shaft 16 , and a non-slip rubber plate 17 is fixedly provided on the surface of each distal phalanx 5 .

[0026] The palm body 1 has four groups of movable grooves 18 in its inner cavity, each of which is fixedly installed with a first motor 19 and a second motor 20 . The output end of the first motor 19 is fixedly connected to one end of the first rotating shaft 8 , and the output end of the second motor 20 is fixedly connected to one end of the second rotating shaft 9 .

[0027] In this embodiment, the user controls the corresponding first motor 19 and second motor 20 through the first sensing plate 23 and the second sensing plate 24. The first motor 19 is started to drive the first turntable 6 to rotate through the first shaft 8. The rotation of the first turntable 6 drives the first tendon rope 12 on the surface to move telescopically. The movement of the first tendon rope 12 drives the third shaft 10 and the fourth shaft 11 to rotate, thereby driving the proximal knuckle 3, the middle knuckle 4 and the distal knuckle 5 to rotate. Similarly, the second motor 20 drives the proximal knuckle 3, the middle knuckle 4 and the distal knuckle 5 to rotate through the second tendon rope 13. By controlling the first tendon rope 12 and the second tendon rope 13 and using the fifth shaft 16 to drive the connecting shaft 15 to swing left and right, the swinging and bending functions of the proximal knuckle 3, the middle knuckle 4 and the distal knuckle 5 are realized.

[0028] Example 2

[0029] like Figure 1-Figure 4 As shown, a heat dissipation fan 21 is fixedly installed on the inner wall of the movable groove 18, and heat dissipation holes 22 are opened on the surface of the movable groove 18.

[0030] A plurality of first induction sheets 23 and second induction sheets 24 are fixedly mounted on the surface of the palm body 1 . The first induction sheets 23 are electrically connected to the first motor 19 , and the second induction sheets 24 are electrically connected to the second motor 20 .

[0031] In this embodiment, by providing a cooling fan 21, the surface temperature of the first motor 19 and the second motor 20 rises after starting, and the cooling fan 21 is used to diffuse the temperature of the first motor 19 and the second motor 20 outward through the cooling holes 22, thereby extending the service life of the first motor 19 and the second motor 20.

[0032] The working principle of this embodiment is as follows: the user controls the corresponding first motor 19 and second motor 20 through the first induction sheet 23 and the second induction sheet 24. When the first motor 19 is started, it drives the first turntable 6 to rotate through the first shaft 8. The rotation of the first turntable 6 drives the first tendon rope 12 on the surface to move telescopically. The movement of the first tendon rope 12 drives the third shaft 10 and the fourth shaft 11 to rotate, thereby driving the proximal knuckle 3, the middle knuckle 4 and the distal knuckle 5 to rotate. Similarly, the second motor 20 drives the proximal knuckle 3, the middle knuckle 4 and the distal knuckle 5 to rotate through the second tendon rope 13. By controlling the first tendon rope 12 and the second tendon rope 13 and utilizing the fifth shaft 16 to drive the connecting shaft 15 to swing left and right, and by setting a cooling fan 21, the surface temperature of the first motor 19 and the second motor 20 rises after starting. The cooling fan 21 is used to diffuse the temperature of the first motor 19 and the second motor 20 outward through the cooling hole 22, thereby extending the service life of the first motor 19 and the second motor 20.

[0033] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A dexterous hand driving mechanism, characterized in that: The invention comprises a palm body (1), wherein the surface of the palm body (1) is provided with four groups of movable mechanisms (2) from left to right, wherein each group of the movable mechanisms (2) comprises a proximal phalanx (3), a middle phalanx (4), a distal phalanx (5), a first rotating disk (6) and a second rotating disk (7), wherein the first rotating disk (6) is rotatably connected to the front surface of the palm body (1) via a first rotating shaft (8), and the second rotating disk (7) is rotatably connected to the front surface of the palm body (1) via a second rotating shaft (9), wherein the proximal phalanx (3) and the middle phalanx (4) are connected to the front surface of the palm body (1) via a second rotating shaft (9), wherein the proximal phalanx (3) and the middle phalanx (4) are connected to the front surface of the palm body (1) via a first rotating shaft (8). The first rotating disk (6) and the second rotating disk (7) are rotatably connected via a third rotating shaft (10); the middle phalanx (4) and the distal phalanx (5) are rotatably connected via a fourth rotating shaft (11); a first tendon rope (12) is slidably provided on the surface of the first rotating disk (6); the other end of the first tendon rope (12) passes through the third rotating shaft (10) and the left end of the fourth rotating shaft (11) in sequence; a second tendon rope (13) is slidably provided on the surface of the second rotating disk (7); the other end of the second tendon rope (13) passes through the third rotating shaft (10) and the right end of the fourth rotating shaft (11) in sequence.

2. A dexterous hand driving mechanism according to claim 1, characterized in that: Four groups of support frames (14) are fixedly mounted on the surface of the palm body (1) from left to right, and a connecting shaft (15) is rotatably connected between the inner walls on the front and rear sides of the inner cavity of each support frame (14).

3. The dexterous hand driving mechanism according to claim 2, characterized in that: Each of the connecting shafts (15) is rotationally connected to the adjacent proximal phalanx (3) via a fifth rotating shaft (16), and a non-slip rubber plate (17) is fixedly provided on the surface of each of the distal phalanx (5).

4. The dexterous hand driving mechanism according to claim 3, characterized in that: The palm body (1) is provided with four groups of movable grooves (18) in its inner cavity, and a first motor (19) and a second motor (20) are fixedly installed in the inner cavity of each group of movable grooves (18); the output end of the first motor (19) is fixedly connected to one end of the first rotating shaft (8), and the output end of the second motor (20) is fixedly connected to one end of the second rotating shaft (9).

5. The dexterous hand driving mechanism according to claim 4, characterized in that: A heat dissipation fan (21) is fixedly mounted on the inner wall of the movable groove (18), and heat dissipation holes (22) are provided on the surface of the movable groove (18).

6. The dexterous hand driving mechanism according to claim 5, characterized in that: A plurality of first induction sheets (23) and second induction sheets (24) are fixedly mounted on the surface of the palm body (1); the first induction sheets (23) are electrically connected to the first motor (19), and the second induction sheets (24) are electrically connected to the second motor (20).

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