Self-adapting artificial hand lack of actuating

The present invention is under-driven adaptive false hand unit and relates to the structure of anthropomorphic machine hand and false hand for disabled person. The present invention has index finger, middle finger, middle finger and little finger with the same driving mechanism, last joint shaft set between the right side plate and the left side plate of middle knuckle, middle joint link rod shaft set between the right side plate and the left side plate of near knuckle, finger tip lower end set on the last joint shaft, the same index finger and middle finger transmitting mechanism, large bevel gear shaft set on the finger pedestal, small bevel gear shaft fixed in the output shaft of motor, and large bevel gear shaft sleeve with one end fixed on the large bevel gear and the other end fixed on the small spur gear. The present invention has simple structure, great grasping force, stable grasping and other advantages. 欠驱动自适应假手装置，它涉及拟人机械手及残疾人假手的结构。本发明食指(103)、中指(104)、无名指(105)、小指(106)的驱动机构相同，末关节轴(2)设置在中指节左侧板(20)与中指节右侧板(21)之间的上端，中关节连杆轴(5)设置在近指节左侧板(17)与近指节右侧板(18)之间的上端，指尖(22)的下端设在末关节轴(2)上，食指(103)和中指(104)的传动机构相同，大伞齿轮轴(9)设置在指基座(10)上，小伞齿轮(14)固定在电机(12)的输出轴上，大伞齿轮轴套(31)的一端固定有大伞齿轮(15)，大伞齿轮轴套(31)的另一端固定有小直齿轮(33)。本发明具有结构简单，重量轻，体积小，抓取力大，达到完全包络物体，抓握稳定，能够抓取不同形状的物体，抓取的范围广的优点。