Artificial hand transmission mechanism with quick grasping function

Abstract

The utility model relates to the technical field of artificial hand transmission, in particular to an artificial hand transmission mechanism with a rapid grasping function, a driving motor is arranged above a supporting plate, a supporting frame, a worm, a first grasping hand, a second grasping hand and a third grasping hand are arranged below the supporting plate, one end of a clamping plate is provided with a worm gear and a rotating rod, and the other end of the clamping plate is provided with a rotating shaft. A connecting plate and a clamping block are arranged at the other end of the clamping plate, a transmission hole is formed in the surface of the supporting plate, a bearing sleeve is installed in the transmission hole, the output end of the driving motor is matched with the bearing sleeve, and the output end of the driving motor is fixedly connected to the worm; the device has the beneficial effects that a driving motor is used for driving a worm to rotate, due to cooperation of a worm gear and the worm, folding and diverging of a first gripper, a second gripper and a third gripper are achieved so that gripping can be achieved, friction can be increased through an arranged rubber ring, the stability during gripping can be improved, the driving motor can be protected through a protection frame, and the service life of the device is prolonged. And through a plurality of heat dissipation holes, heat dissipation is facilitated.

Description

Technical Field

[0001] The utility model relates to the field of artificial hand transmission, in particular to an artificial hand transmission mechanism with a rapid grasping function. Background Art

[0002] Prosthetic hands are a research topic that has attracted much attention in the fields of robotics and biomedical engineering. The research on this project has important practical significance for improving the living conditions of people with disabilities and promoting the development of their medical welfare. It consists of a mechanical body designed based on the under-actuated principle, a sensor system for collecting finger torque signals, a main controller system responsible for electromyographic signal processing, and an electrical drive system composed of a micro-actuator and a motion controller.

[0003] In the prior art, a myoelectrically controlled prosthetic hand is a prosthetic hand that uses electromyographic signals to start a motor through a control circuit to automatically open and close the fingers. It is powered by a micro battery pack and is generally composed of a drive motor, a transmission mechanism, and a control circuit. The prosthetic hand has the function of opening and closing, which can initially meet the user's requirements for grasping and moving objects.

[0004] However, the clamping stability of current prosthetic hands is low, and the picked-up objects are easily dropped during the clamping operation, affecting the continuity of the actual operation. Utility Model Content

[0005] The purpose of the utility model is to provide a transmission mechanism of a prosthetic hand with a quick grasping function to solve the problems raised in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical solutions: a transmission mechanism of a prosthetic hand with a quick grasping function, the transmission mechanism of a prosthetic hand with a quick grasping function comprising: a support plate, a driving motor is arranged above the support plate, a support frame, a worm, a first gripper, a second gripper and a third gripper are arranged below the support plate;

[0007] A clamping plate, one end of which is provided with a worm gear and a rotating rod, and the other end of which is provided with a connecting plate and a clamping block.

[0008] Preferably, a transmission hole is opened on the surface of the support plate, a bearing sleeve is installed in the transmission hole, the output end of the drive motor is matched with the bearing sleeve, and the output end of the drive motor is fixedly connected to the worm.

[0009] Preferably, columns are fixed below the driving motor, and there are three groups of columns, which are fixedly connected to the support plate and evenly distributed on the lower surface of the driving motor.

[0010] Preferably, a protective frame is installed outside the driving motor, and a heat dissipation hole is opened on the surface of the protective frame. There are a plurality of heat dissipation holes, and the plurality of heat dissipation holes are evenly distributed on the surface of the protective frame. The protective frame is fixedly connected to the support plate by hexagonal bolts.

[0011] Preferably, the support frames are provided with three groups, and the three groups of support frames are evenly distributed on the lower surface of the support plate. A rotating rod is rotatably connected inside the support frame, a clamping plate is fixed on the surface of the rotating rod, a worm wheel is fixed on the inner side of the clamping plate, and the worm wheel and worm are adapted to each other.

[0012] Preferably, a connecting plate is fixed to the end face of the clamping plate, a clamping block is fixed to the surface of the connecting plate, a concave cavity is opened inside the support frame, a connecting frame is fixed to the side of the support frame, and three groups of connecting frames are provided, and the three groups of connecting frames are evenly distributed on the side of the support frame.

[0013] Preferably, a rubber ring is fixed on the surface of the clamping block, and a plurality of rubber rings are provided, and the plurality of rubber rings are linearly distributed at equal distances on the surface of the clamping block.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model provides a transmission mechanism for a prosthetic hand with a quick grasping function. By starting a driving motor, the output end of the driving motor drives the worm to rotate. Due to the cooperation between the worm wheel and the worm, the first gripper, the second gripper and the third gripper can be brought together and spread apart to grasp the object. The provided rubber ring can increase friction and improve stability during grasping. The protective frame can protect the driving motor. Through a plurality of heat dissipation holes, heat dissipation is convenient. In this way, the problem that the current prosthetic hand has low clamping stability during clamping, the object is easily dropped during the clamping operation, and the continuity of the actual operation is affected is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the rubber ring structure of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the bearing sleeve of the utility model;

[0019] Figure 4 This is a structural detail diagram of the utility model.

[0020] In the figure: 1. first gripper; 2. second gripper; 3. third gripper; 4. protective frame; 5. heat dissipation hole; 7. support plate; 8. connecting frame; 9. support frame; 10. clamping plate; 11. connecting plate; 12. clamping block; 13. rubber ring; 14. worm gear; 15. worm; 16. hexagonal bolt; 17. concave cavity; 18. rotating rod; 19. transmission hole; 20. bearing sleeve; 21. driving motor; 22. column. DETAILED DESCRIPTION

[0021] 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.

[0022] Embodiment 1

[0023] See also Figure 1-Figure 4 The utility model provides a technical solution: a transmission mechanism of a prosthetic hand with a quick grasping function, the transmission mechanism of the prosthetic hand with a quick grasping function comprises: a support plate 7, a driving motor 21 is arranged above the support plate 7, a support frame 9, a worm 15, a first gripper 1, a second gripper 2 and a third gripper 3 are arranged below the support plate 7;

[0024] A clamping plate 10, one end of which is provided with a worm gear 14 and a rotating rod 18, and the other end of which is provided with a connecting plate 11 and a clamping block 12. Three groups of support frames 9 are provided, and the three groups of support frames 9 are evenly distributed on the lower surface of the support plate 7. The support frame 9 is rotatably connected with a rotating rod 18, and the surface of the rotating rod 18 is fixed with the clamping plate 10, and the inner side of the clamping plate 10 is fixed with a worm gear 14, and the worm gear 14 and the worm 15 are adapted;

[0025] A connecting plate 11 is fixed to the end surface of the clamping plate 10, a clamping block 12 is fixed to the surface of the connecting plate 11, a concave cavity 17 is opened inside the support frame 9, a connecting frame 8 is fixed to the side of the support frame 9, and the connecting frame 8 is provided with three groups, and the three groups of connecting frames 8 are evenly distributed on the side of the support frame 9;

[0026] When in use, by starting the driving motor 21, the output end of the driving motor 21 drives the worm 15 to rotate, and due to the cooperation of the worm wheel 14 and the worm 15, the first gripper 1, the second gripper 2 and the third gripper 3 are retracted and diverged to grasp the picked-up object, wherein the concave cavity 17 is arc-shaped, and the clamping plate 10 is arranged on the inner side of the concave cavity 17 to facilitate the rotation of the clamping plate 10, and the three connecting frames 8 are arranged to improve the stability of the support frame 9.

[0027] Embodiment 2

[0028] On the basis of the first embodiment, a rubber ring 13 is fixed on the surface of the clamping block 12, and a plurality of rubber rings 13 are provided. The plurality of rubber rings 13 are equidistantly and linearly distributed on the surface of the clamping block 12, and a transmission hole 19 is opened on the surface of the support plate 7, and a bearing sleeve 20 is installed in the transmission hole 19, and the output end of the drive motor 21 is adapted to the bearing sleeve 20;

[0029] When in use, the rubber ring 13 can be used to increase friction and improve stability during grasping, and the bearing sleeve 20 can be used to improve the stability of rotation of the output end of the driving motor 21.

[0030] Embodiment 3

[0031] On the basis of the second embodiment, a protection frame 4 is installed outside the driving motor 21, and a heat dissipation hole 5 is opened on the surface of the protection frame 4. There are a plurality of heat dissipation holes 5, and the plurality of heat dissipation holes 5 are evenly distributed on the surface of the protection frame 4. The protection frame 4 is fixedly connected to the support plate 7 by a hexagonal bolt 16;

[0032] When in use, the protective frame 4 can protect the driving motor 21, and heat dissipation is convenient through multiple heat dissipation holes 5. It is fixed with hexagonal bolts 16, which is convenient for installation and disassembly.

[0033] In actual use, by starting the drive motor 21, the output end of the drive motor 21 drives the worm 15 to rotate. Due to the cooperation of the worm wheel 14 and the worm 15, the first gripper 1, the second gripper 2 and the third gripper 3 are brought together and diverged to grasp the picked-up object. The provided rubber ring 13 can increase friction and improve stability during grasping. The provided bearing sleeve 20 can improve the stability of rotation of the output end of the drive motor 21. The provided protective frame 4 can protect the drive motor 21. Through multiple heat dissipation holes 5, heat dissipation is convenient. This avoids the problem that the current prosthetic hand has low clamping stability during clamping, and the picked-up object is easily dropped during the clamping operation, affecting the continuity of the actual operation.

[0034] 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 transmission mechanism for a prosthetic hand with a quick grasping function, characterized in that: The artificial hand transmission mechanism with a quick grasping function comprises: a support plate (7), a driving motor (21) is arranged above the support plate (7), and a support frame (9), a worm (15), a first gripper (1), a second gripper (2) and a third gripper (3) are arranged below the support plate (7); A clamping plate (10) is provided with a worm gear (14) and a rotating rod (18) at one end of the clamping plate (10), and a connecting plate (11) and a clamping block (12) at the other end of the clamping plate (10).

2. The artificial hand transmission mechanism with quick grasping function according to claim 1, characterized in that: A transmission hole (19) is provided on the surface of the support plate (7), a bearing sleeve (20) is installed in the transmission hole (19), the output end of the drive motor (21) is matched with the bearing sleeve (20), and the output end of the drive motor (21) is fixedly connected to the worm (15).

3. The artificial hand transmission mechanism with quick grasping function according to claim 2, characterized in that: A column (22) is fixed below the driving motor (21), and the columns (22) are provided in three groups. The three groups of columns (22) are fixedly connected to the support plate (7), and the three groups of columns (22) are evenly distributed on the lower surface of the driving motor (21).

4. The artificial hand transmission mechanism with quick grasping function according to claim 2, characterized in that: A protective frame (4) is installed outside the driving motor (21), and a heat dissipation hole (5) is provided on the surface of the protective frame (4). A plurality of heat dissipation holes (5) are provided, and the plurality of heat dissipation holes (5) are evenly distributed on the surface of the protective frame (4). The protective frame (4) is fixedly connected to the support plate (7) by means of hexagonal bolts (16).

5. The artificial hand transmission mechanism with quick grasping function according to claim 1, characterized in that: The support frames (9) are provided with three groups, and the three groups of support frames (9) are evenly distributed on the lower surface of the support plate (7). A rotating rod (18) is rotatably connected inside the support frame (9), a clamping plate (10) is fixed on the surface of the rotating rod (18), a worm wheel (14) is fixed on the inner side of the clamping plate (10), and the worm wheel (14) and the worm (15) are matched.

6. The artificial hand transmission mechanism with quick grasping function according to claim 5, characterized in that: A connecting plate (11) is fixed to the end surface of the clamping plate (10), a clamping block (12) is fixed to the surface of the connecting plate (11), a concave cavity (17) is provided inside the support frame (9), a connecting frame (8) is fixed to the side of the support frame (9), and three groups of connecting frames (8) are provided, and the three groups of connecting frames (8) are evenly distributed on the side of the support frame (9).

7. The artificial hand transmission mechanism with quick grasping function according to claim 6, characterized in that: A rubber ring (13) is fixed on the surface of the clamping block (12), and a plurality of rubber rings (13) are provided. The plurality of rubber rings (13) are linearly distributed at equal distances on the surface of the clamping block (12).

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