Three-joint artificial finger mechanism

Abstract

The utility model relates to the technical field of mechanical bionic hands, in particular to a three-joint artificial finger mechanism which has the advantages that a first joint seat is arranged, a pinion is installed on the upper side of the first joint seat, a large gear is meshed with one side of the pinion, a connecting shaft is arranged on the upper side of the large gear, and a second joint seat is arranged on one side of the connecting shaft. A first half tooth is arranged at the bottom of the second joint seat, a second half tooth is meshed with one side of the first half tooth, a worm is arranged on one side of the second half tooth, a worm gear is meshed with one side of the worm, and knuckles are installed on one side of the worm gear. The mechanical arm has the beneficial effects that through meshing transmission between a small gear and a large gear, a connecting shaft is indirectly driven to move, then the connecting shaft drives a second joint base to rotate, the rotating angle of the second joint base is adjusted, then through meshing transmission between a first half tooth and a second half tooth, the rotating angle of the knuckles is adjusted, and the mechanical arm is more convenient to use. And the worm and the worm gear are in meshing transmission, so that the bending angle of the knuckles is adjusted, and therefore, the device can better adapt to the appearances of different grabbed objects.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical bionic hands, in particular to a three-joint artificial finger mechanism. Background Art

[0002] Prosthesis is an artificial prosthesis specially designed and manufactured by engineering technology to compensate for the limbs of amputees or incomplete limbs. Its main function is to replace some functions of the lost limbs and enable amputees to restore a certain degree of self-care and work ability.

[0003] In the prior art, the fingers of the conventional claw-shaped artificial hand have only one degree of freedom and can only adapt to the shape of regular objects. At the same time, the contact area between the fingers and the object is small when grasping the object.

[0004] However, a prosthetic finger with only one degree of freedom has low flexibility and is unstable in grasping irregular objects, which can easily cause the object to slip during the grasping process. At the same time, due to the small contact area between the finger and the object, the gripping force of the gripper is mainly concentrated on a smaller area, which can easily cause damage / deformation of the object. Utility Model Content

[0005] The purpose of the utility model is to provide a three-joint artificial finger mechanism to solve the problems raised in the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] The first joint seat has a small gear mounted on the upper side of the first joint seat, and a large gear meshes with one side of the small gear.

[0008] A connecting shaft is arranged on the upper side of the large gear, and a second joint seat is arranged on one side of the connecting shaft.

[0009] A first half tooth is arranged at the bottom of the second joint seat, a second half tooth is meshed with one side of the first half tooth, a worm is arranged at one side of the second half tooth, a worm wheel is meshed with one side of the worm, and a finger joint is installed at one side of the worm wheel.

[0010] Preferably, a cover is fixedly mounted on the upper surface of the first joint seat, a micro motor 1 is fixedly mounted on the inner wall of the cover, a pinion is fixedly sleeved on the output end of the micro motor 1, and a controller is arranged on one side of the pinion.

[0011] The controller is fixedly connected to the first joint seat.

[0012] Preferably, the large gear is sleeved in the fixed shaft and rotatably connected to the fixed shaft, the lower surface of the fixed shaft is fixedly connected to the first joint seat, and a first bearing seat is provided on one side of the fixed shaft.

[0013] Preferably, one end of the connecting shaft is fixedly sleeved in the first bearing seat, and the other end of the connecting shaft is fixedly sleeved in the second bearing seat, both sides of the second bearing seat are fixedly connected to the second joint seat, and the first bearing seat is fixedly connected to the large gear.

[0014] Preferably, the first half gear is fixedly sleeved on the sleeve shaft, the sleeve shaft is fixedly sleeved in the second joint seat, the first half gear is meshed with the second half gear for transmission, and the micro motor 2 is fixedly mounted on the upper surface of the first half gear.

[0015] Preferably, the output end of the second micro motor is fixedly sleeved with a rotating rod, one end of the rotating rod is fixedly sleeved with a driven shaft, the second half tooth is fixedly sleeved on the driven shaft, and a third joint seat is installed between the second half tooth and the rotating rod.

[0016] Preferably, the third joint seat fixing sleeve is arranged on the driven shaft, a silicone pad is fixedly connected between the second joint seat and the third joint seat, a resistive film force sensor is fixedly installed on one side of the silicone pad, a micro motor three is arranged in the fixing sleeve of the third joint seat, and the output shaft of the micro motor three is fixedly connected to the worm.

[0017] Preferably, a bracket is fixedly installed on one side of the micro motor, a horizontal axis is fixedly sleeved in the bracket, a worm gear is sleeved on the horizontal axis and rotatably connected to the horizontal axis, and both sides of one end of the knuckle are fixedly connected to the side surfaces of the worm gear.

[0018] Compared with the prior art, the beneficial effects of the utility model are:

[0019] 1. The controller controls the rotation of micro motor 1, which drives the small gear to rotate. The small gear meshes with the large gear rotating on the fixed shaft, so that the large gear drives the first bearing seat fixed on its upper side to rotate. The first bearing seat drives the second bearing seat to rotate through the connecting shaft, thereby increasing the flexibility of the entire device and ensuring the requirements of dexterous operation and control of the prosthetic hand.

[0020] 2. The controller is used to control the rotation of micro motor 2, which drives one end of the rotating rod to rotate through its output shaft, so that the rotating rod drives the second half tooth to rotate through the driven shaft, and the second half tooth and the first half tooth are meshed and transmitted, thereby driving the third joint seat to rotate, and then adjusting the rotation angle of the third joint seat, and then the controller is used to control micro motor 3 to drive the worm installed at one end to rotate, and the worm and the worm wheel are meshed and transmitted, so that the worm wheel rotates on the horizontal axis, and then the worm wheel drives the knuckles to rotate, further increasing the flexibility of the knuckles, so as to better grasp the object, and setting a silicone pad to increase the contact area between the finger and the object, and increase the stability of grasping. When grasping the object, first set an initial value for the resistive film force sensor. When the surface of the resistive film force sensor contacts the object, the pressure value on its surface continues to increase until it increases to the set value, and then the resistive film force sensor is fed back to the controller. At this time, after receiving the signal, the controller controls all motors to stop rotating, and the object is grasped, further improving the stability and flexibility of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 It is a bottom view schematic diagram of the overall structure of the utility model;

[0023] Figure 3 It is a top view schematic diagram of the internal structure of the utility model;

[0024] Figure 4 It is a side view schematic diagram of the internal structure of the utility model.

[0025] In the figure: 1, first joint seat; 2, small gear; 3, large gear; 4, connecting shaft; 5, second joint seat; 6, first half gear; 7, second half gear; 8, worm; 9, worm wheel; 10, knuckle; 11, cover;

[0026] 12. Micro motor 1; 13. Controller; 14. Fixed shaft; 15. First bearing seat; 16. Second bearing seat; 17. Sleeve shaft; 18. Micro motor 2; 19. Rotating rod; 20. Driven shaft; 21. Third joint seat; 22. Silicone pad; 23. Resistive film force sensor; 24. Micro motor 3; 25. Bracket;

[0027] 26. Horizontal axis. DETAILED DESCRIPTION

[0028] In order to make the purpose and technical solution of the utility model clearly and completely described, and the advantages more clearly understood, the embodiments of the utility model are further described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are part of the embodiments of the utility model, not all of the embodiments, and are only used to explain the embodiments of the utility model, and are not used to limit the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Embodiment 1

[0030] See also Figure 1-Figure 4 , the utility model provides a technical solution:

[0031] A first joint seat 1, a small gear 2 is installed on the upper side of the first joint seat 1, a large gear 3 is meshed with one side of the small gear 2, a connecting shaft 4 is arranged on the upper side of the large gear 3, a second joint seat 5 is arranged on one side of the connecting shaft 4, a first half tooth 6 is arranged at the bottom of the second joint seat 5, a second half tooth 7 is meshed with one side of the first half tooth 6, a worm 8 is arranged on one side of the second half tooth 7, a worm wheel 9 is meshed with one side of the worm 8, and a finger joint 10 is installed on one side of the worm wheel 9.

[0032] One end of the artificial finger is fixed by the first joint seat 1, and the small gear 2 and the large gear 3 are meshed and transmitted, thereby indirectly driving the connecting shaft 4 to move, and the connecting shaft 4 drives the second joint seat 5 to rotate, so as to adjust the rotation angle of the second joint seat 5, so as to better grasp the object, and then adjust the rotation angle of the finger joint 10 by meshing transmission between the first half tooth 6 and the second half tooth 7, and finally adjust the bending angle of the finger joint 10 by meshing transmission between the worm 8 and the worm wheel 9, so as to better adapt to the appearance of different grasped objects, increase the contact area between the finger and the object, and increase the stability of grasping.

[0033] Embodiment 2

[0034] On the basis of embodiment 1, a cover shell 11 is fixedly installed on the upper surface of the first joint seat 1, a micro motor 12 is fixedly installed on the inner wall of the cover shell 11, a pinion 2 is fixedly sleeved on the output end of the micro motor 12, a controller 13 is arranged on one side of the pinion 2, the controller 13 is fixedly connected to the first joint seat 1, the large gear 3 is sleeved in the fixed shaft 14 and is rotatably connected to the fixed shaft 14, the lower surface of the fixed shaft 14 is fixedly connected to the first joint seat 1, a first bearing seat 15 is arranged on one side of the fixed shaft 14, one end of the connecting shaft 4 is fixedly sleeved in the first bearing seat 15, and the other end of the connecting shaft 4 is fixedly sleeved in the second bearing seat 16, both sides of the second bearing seat 16 are fixedly connected to the second joint seat 5, the first bearing seat 15 is fixedly connected to the large gear 3, the first half tooth 6 is fixedly sleeved on the sleeve shaft 17, the sleeve shaft 17 is fixedly sleeved in the second joint seat 5, the first half tooth 6 and the second half gear 7 are meshed and transmitted, and a micro motor 2 18 is fixedly installed on the upper surface of the first half tooth 6.

[0035] The cover 11 protects the first joint seat 1, and controls the micro motor 12 to rotate through the controller 13, so that the micro motor 12 drives the small gear 2 to rotate, and the small gear 2 meshes with the large gear 3 rotating on the fixed shaft 14, so that the large gear 3 drives the first bearing seat 15 fixedly installed on its upper side to rotate, and a baffle is fixedly installed on the upper surface of the large gear 3, and a limit rod is fixedly installed on the upper surface of the first joint seat 1, so that the rotation angle of the first bearing seat 15 is limited under the cooperation of the baffle and the limit rod, and the first bearing seat 15 drives the second bearing seat 16 to rotate through the connecting shaft 4, thereby increasing the flexibility of the entire device and ensuring the requirements of dexterous operation and control of the prosthetic hand.

[0036] Embodiment 3

[0037] On the basis of the second embodiment, the output end of the second micromotor 18 is fixedly sleeved with a rotating rod 19, one end of the rotating rod 19 is fixedly sleeved with a driven shaft 20, the second half tooth 7 is fixedly sleeved on the driven shaft 20, a third joint seat 21 is installed between the second half tooth 7 and the rotating rod 19, the third joint seat 21 is fixedly sleeved on the driven shaft 20, a silicone pad 22 is fixedly connected between the second joint seat 5 and the third joint seat 21, a resistive film force sensor 23 is fixedly installed on one side of the silicone pad 22, a micromotor 3 24 is fixedly sleeved in the third joint seat 21, the output shaft of the micromotor 3 24 is fixedly connected to the worm 8, a bracket 25 is fixedly installed on one side of the micromotor 3 24, a horizontal shaft 26 is fixedly sleeved in the bracket 25, the worm wheel 9 is sleeved on the horizontal shaft 26 and is rotatably connected to the horizontal shaft 26, and both sides of one end of the knuckle 10 are fixedly connected to the side surfaces of the worm wheel 9.

[0038] The controller 13 controls the second micro motor 18 to rotate, and the second micro motor 18 drives one end of the rotating rod 19 to rotate through its output shaft, so that the rotating rod 19 drives the second half tooth 7 to rotate through the driven shaft 20, and the second half tooth 7 is meshed with the first half tooth 6, thereby driving the third joint seat 21 to rotate, and then adjusting the rotation angle of the third joint seat 21, and then the controller 13 controls the third micro motor 24 to drive the worm 8 installed at one end thereof to rotate, and the worm 8 is meshed with the worm wheel 9, so that the worm wheel 9 rotates on the horizontal axis 26, and then the worm wheel 9 drives the finger joint 10. Rotation further increases the flexibility of the knuckle 10, so as to better grasp the object. The silicone pad 22 is set to ensure that the object is not damaged during grasping. When grasping the object, first set an initial value for the resistive film force sensor 23. When the surface of the resistive film force sensor 23 contacts the object, the pressure value on its surface increases until it increases to the set value, and then the resistive film force sensor 23 feeds back to the controller 13. At this time, after receiving the signal, the controller 13 controls all motors to stop rotating, and the object is grasped, further improving the stability and flexibility of grasping.

[0039] In actual use, the micro motor 12, the micro motor 2 18, the micro motor 3 24, the resistive film force sensor 23 and the controller 13 are all electrically connected. The micro motor 12 is controlled to rotate by the controller 13, and the micro motor 12 thereby drives the small gear 2 to rotate. The small gear 2 is meshed with the large gear 3 that is rotatably sleeved on the fixed shaft 14, so that the large gear 3 drives the first bearing seat 15 fixedly installed on its upper side to rotate. The first bearing seat 15 drives the second bearing seat 16 to rotate through the connecting shaft 4, thereby increasing the flexibility of the entire device and ensuring the need for dexterous operation and control of the prosthetic hand. The micro motor 2 18 is controlled to rotate by the controller 13, and the micro motor 2 18 drives one end of the rotating rod 19 to rotate through its output shaft, so that the rotating rod 19 drives the second half tooth 7 to rotate through the driven shaft 20, and the second half tooth 7 is meshed with the first half tooth 6 to drive the third joint seat 21 rotates, and then the rotation angle of the third joint seat 21 is adjusted, and then the micro motor 3 24 is controlled by the controller 13 to drive the worm 8 installed at one end thereof to rotate, and the worm 8 and the worm wheel 9 are meshed and transmitted, so that the worm wheel 9 rotates on the horizontal axis 26, and then the worm wheel 9 drives the knuckles 10 to rotate, further increasing the flexibility of the knuckles 10, so as to better grasp the object, and setting the silicone pad 22 to increase the contact area between the finger and the object, and increase the stability of grasping. When grasping the object, first set an initial value for the resistive film force sensor 23. When the surface of the resistive film force sensor 23 contacts the object, the pressure value on its surface continues to increase until it increases to the set value, and then it is fed back to the controller 13 by the resistive film force sensor 23. At this time, after receiving the signal, the controller 13 controls all motors to stop rotating, and the object is grasped, further improving the stability and flexibility of grasping.

[0040] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-joint artificial finger mechanism, characterized in that: The three-joint artificial finger mechanism comprises: a first joint seat (1), a small gear (2) is mounted on the upper side of the first joint seat (1), a large gear (3) is meshed on one side of the small gear (2), a connecting shaft (4) is arranged on the upper side of the large gear (3), and a second joint seat (5) is arranged on one side of the connecting shaft (4); A first half tooth (6) is arranged at the bottom of the second joint seat (5); a second half tooth (7) is meshed with one side of the first half tooth (6); a worm (8) is arranged on one side of the second half tooth (7); a worm wheel (9) is meshed with one side of the worm (8); and a finger joint (10) is installed on one side of the worm wheel (9).

2. A three-joint artificial finger mechanism according to claim 1, characterized in that: A cover shell (11) is fixedly mounted on the upper surface of the first joint seat (1), a micro motor (12) is fixedly mounted on the inner wall of the cover shell (11), a pinion (2) is fixedly sleeved on the output end of the micro motor (12), a controller (13) is arranged on one side of the pinion (2), and the controller (13) is fixedly connected to the first joint seat (1).

3. A three-joint artificial finger mechanism according to claim 2, characterized in that: The large gear (3) is sleeved in the fixed shaft (14) and is rotatably connected to the fixed shaft (14); the lower surface of the fixed shaft (14) is fixedly connected to the first joint seat (1); and a first bearing seat (15) is provided on one side of the fixed shaft (14).

4. A three-joint artificial finger mechanism according to claim 3, characterized in that: One end of the connecting shaft (4) is fixedly sleeved in the first bearing seat (15), and the other end of the connecting shaft (4) is fixedly sleeved in the second bearing seat (16). Both sides of the second bearing seat (16) are fixedly connected to the second joint seat (5), and the first bearing seat (15) is fixedly connected to the large gear (3).

5. A three-joint artificial finger mechanism according to claim 4, characterized in that: The first half tooth (6) is fixedly sleeved on the sleeve shaft (17), and the sleeve shaft (17) is fixedly sleeved in the second joint seat (5). The first half tooth (6) and the second half tooth (7) are meshed and transmitted, and a second micro motor (18) is fixedly mounted on the upper surface of the first half tooth (6).

6. A three-joint artificial finger mechanism according to claim 5, characterized in that: The output end of the second micro motor (18) is fixedly sleeved with a rotating rod (19), one end of the rotating rod (19) is fixedly sleeved with a driven shaft (20), the second half tooth (7) is fixedly sleeved on the driven shaft (20), and a third joint seat (21) is installed between the second half tooth (7) and the rotating rod (19).

7. A three-joint artificial finger mechanism according to claim 6, characterized in that: The third joint seat (21) is fixedly sleeved on the driven shaft (20); a silicone pad (22) is fixedly connected between the second joint seat (5) and the third joint seat (21); a resistive film force sensor (23) is fixedly mounted on one side of the silicone pad (22); a micro motor (24) is fixedly sleeved inside the third joint seat (21); and an output shaft of the micro motor (24) is fixedly connected to the worm (8).

8. A three-joint artificial finger mechanism according to claim 7, characterized in that: A bracket (25) is fixedly mounted on one side of the micro motor (24); a transverse shaft (26) is fixedly sleeved inside the bracket (25); a worm gear (9) is sleeved on the transverse shaft (26) and is rotatably connected to the transverse shaft (26); and two sides of one end of the knuckle (10) are fixedly connected to the side surfaces of the worm gear (9).

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