The mechanical artificial hand of the five fingers drive
Technical field
The present invention relates to the mechanical artificial hand in rehabilitation engineering field, particularly relate to a kind of mechanical artificial hand by the control of user's myoelectricity.
Background technology
The action ten minutes dexterity of hand also has complicated function.The mechanical artificial hand in existing rehabilitation engineering field, though possessing practicality aspect weight and the high grip, the free degree is very low when reality is used.In addition, much utilize bionics in addition and the mechanical artificial hand realized, they satisfy suitable weight indicator in order to realize high-freedom degree and ignored, and the little problem of handlebar grip, make it be not suitable for practical application.For example have the product of manufacturer production now, all exist following shortcoming respectively:
1. the existing one emulation hand to three degree of freedom, it only has two to three fingers, and wrist is passive rotation, need adjust in use, the inconvenience that has caused the disabled person to use.In addition, the weight of mechanical artificial hand is big, and the disabled person wears difficulty for a long time;
2. some research institutions has researched and developed and has owed to drive anthropomorphic manipulator, owing to used too much gear mechanism, volume is big, and quality is big, and cost is high, and the disabled person is difficult to actual use.
Summary of the invention
Based on above-mentioned prior art, the present invention proposes a kind of mechanical artificial hand of the five fingers drive, the five fingers of this mechanical artificial hand have similar articulation structure with people's hand finger, by corresponding driven by motor open independently, closing motion; Thumb can lateral rotation, thereby makes thumb produce the side direction squeeze motion to all the other finger orientations.In addition, there are three cradle head axles at the wrist place of this mechanical artificial hand, makes mechanical artificial hand can produce interior inner rotary, spins upside down the side direction left-right rotation.
The mechanical artificial hand of a kind of the five fingers drive that the present invention proposes; Comprise five fingers i.e. a thumb, a forefinger, a middle finger, nameless and a little finger of toe and a wrist: said finger and wrist have 19 frees degree altogether: wherein; It is distal interphalangeal joint, proximal interphalangeal joint and metacarpophalangeal joints that every finger has three joints respectively; Three joints of said every finger are connected with drive motors with second line through first line, to draw the motion of every finger; Said wrist is provided with three joints promptly around the joint of z axle rotation, the joint that centers on the rotation of an x axle and setting joint around the rotation of y axle between the two, and the joint of said wrist is provided with the coiling drive wrist of drive motors and rotates; Thumb joint also has a cradle head except that above-mentioned three joints, this joint makes thumb carry out lateral rotation to all the other four finger directions; The coiling that the joint of said wrist is provided with drive motors be wrist around the turning cylinder of the joint of z axle rotation and said thumb above the turning cylinder of the joint of z axle rotation, be fixed with respectively two groups different around to line, realize the vertical rotation of wrist and thumb respectively through the rotating of corresponding motor;
Said drive motors adopts a drive motors;
Said first line is connected with same drive motors respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration; The metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger;
Said first line is connected with same drive motors respectively with said second line and motion in the same way; The first-line radius of gyration is greater than the second-line radius of gyration; First line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger, and the metacarpophalangeal joints that second line connects the control finger rotate;
Said drive motors adopts two drive motors;
The motion in the same way under the driving of first drive motors and second drive motors respectively of said first line and said second line, wherein, the metacarpophalangeal joints that first line connects the control finger rotate, and second line connects the distal interphalangeal joint and the proximal interphalangeal joint of control finger;
Said drive motors and mechanical artificial hand branch are arranged.
Compared with prior art, the present invention simulates the architectural characteristic of staff especially, has developed a kind of new mechanical emulation hand; The five fingers of this mechanical artificial hand have similar articulation structure with people's hand finger, but the free degree is higher, and simple in structure; Light weight, and it is good to use line pulling hand to carry out motion flexibility, cost is low; Therefore motion helps the disabled person and uses in daily life flexibly; Finger has three turning joints, can stablize and hold difform object, is convenient to the daily use of disabled person.
Description of drawings
Fig. 1 is the structural representation of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 2 is the embodiment sketch map of first kind of type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 3 is the embodiment sketch map of second kind of type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 4 is the embodiment sketch map of the third type of drive of finger-joint of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 5 is the winding mode sketch map of the vertical rotation with wrist of thumb of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 6 is three cradle head structural representations in wrist place of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 7 is the winding mode sketch map of wrist side direction left-right rotation of the mechanical artificial hand of the five fingers drive of the present invention;
Fig. 8 spins upside down the winding mode sketch map of motion for the wrist of the mechanical artificial hand of the five fingers drive of the present invention.
The specific embodiment
Conceptual design thought of the present invention is that anthropomorphic dummy's swivel of hand architectural characteristic has been developed a mechanical mechanical artificial hand with 19 frees degree; As shown in Figure 1; This mechanical artificial hand has 5 fingers, shown in digital 1-5 among Fig. 1, is respectively thumb, forefinger, middle finger, the third finger, little finger of toe.Each finger all has DIP joint (DIP; Distal interphalangeal joint, distal interphalangeal joint), PIP (PIP, Proximal interphalangeal joint; Proximal interphalangeal joint) and MP (MP, metacarpophalangeal joint metacarpophalangeal joints)
Thumb joint except that above-mentioned three joints, also has a cradle head (shown in " d " among Fig. 1), and this joint makes thumb carry out lateral rotation to all the other four finger directions, and the corresponding direction of motion is shown in the arrow among Fig. 1.In addition, the wrist place of this mechanical artificial hand also has three cradle heads, in Fig. 1, is denoted as " q ", " r ", " s ", and the corresponding direction of motion is shown in the arrow among Fig. 1.Cradle head " q " makes inner rotary in the machine emulated winding by hand z axle, and cradle head " r " makes machine emulated winding by hand y axle spin upside down, and cradle head " s " makes machine emulated winding by hand x axle left and right sides lateral rotation.These cradle heads are adopted and interfere type of drive, use driven by motor line traction hand joint to move, and the drive motors part is separated with hand, have alleviated the hand quality, are convenient to the disabled person and wear use.
To user's different condition and physiological motion mode, take three kinds of different interference type of drive in the different articular portion of emulation hand finger, in Fig. 2-4, introduce respectively.In Fig. 2, line 1 is connected with same motor respectively with line 2 and motion in the same way, but the radius of gyration of line 1 greater than the radius of gyration of line 2, the MP joint rotation of line 1 control finger, the DIP joint and the PIP joint rotation of line 2 control fingers.
In Fig. 3, line 1 is connected with same motor respectively with line 2 and motion in the same way, but the radius of gyration of line 1 greater than the radius of gyration of line 2, DIP joint and the PIP joint rotation of line 1 control finger, the MP joint rotation that line 2 controls are pointed.
In above-mentioned two kinds of structures, it is bigger that the driven by motor line 1 that the radius of gyration is bigger is accomplished strength, the action that range of movement is bigger; It is less that the less driven by motor line 2 of the radius of gyration is accomplished strength, the action that range of movement is less.
In Fig. 4; Line 1 and line 2 motion in the same way under the driving of motor 1 and motor 2 respectively; The MP joint rotation of line 1 control finger, the DIP joint and the PIP joint rotation of line 2 control fingers, the relative size of the radius of gyration of the radius of gyration of line 1 and line 2 can be adjusted as required.
The grip that above-mentioned three kinds of joints drive the designing institute generation is big, and the finger velocity of rotation is fast, but owing to used two motors, causes the quality of whole machine emulated arm device to increase to some extent.
In order to reduce the use of motor, the winding mode that thumb is located around the joint " q " of z axle rotation around the joint " d " and the wrist of the rotation of z axle is as shown in Figure 5.Be arranged on the turning cylinder that thumb locates around the joint " d " of z axle rotation on the turning cylinder of locating around the joint " q " of z axle rotation with wrist; Be fixed with respectively two groups of differences around to line; The clockwise rotating of corresponding motor, rotate counterclockwise (the actual situation line arrow in the reference diagram on the motor) down, this turning cylinder will produce rotating counterclockwise and clockwise rotating around the z axle respectively.
In addition, there are three cradle head axles at the wrist place of this mechanical artificial hand, makes mechanical artificial hand can produce interior inner rotary, spins upside down the side direction left-right rotation.The structural representation of three turning cylinders in mechanical artificial hand wrist place is as shown in Figure 6." q " among " q " among Fig. 6, " r ", " s " joint and Fig. 1, " r ", " s " joint are consistent, and " q " is the joint around the rotation of z axle, and " r " is the joint around the rotation of y axle, and " s " is the joint around the rotation of x axle.Between " q " joint and " r " joint an excessive joint is arranged, in order to connect both; Between " r " joint and " s " joint an excessive joint is arranged also, in order to connect both.
Wrist is as shown in Figure 7 around the mechanism of x axle rotation, and line is connected the excessive joint between " r " joint and " s " joint, and when motor a clockwise rotated, hand is lateral rotation (rotation direction shown in the solid arrow line among Fig. 7) left; When motor a rotated counterclockwise, hand is lateral rotation (rotation direction shown in the empty arrow line among Fig. 7) to the right.
Wrist is as shown in Figure 8 around the mechanism of y axle rotation, and line is opposite to being wrapped on " r " joint with two kinds, when motor b clockwise rotates, and hand will overturn downwards (rotation direction shown in the solid arrow line among Fig. 8); When motor b rotates counterclockwise, hand will upwards overturn (rotation direction shown in the empty arrow line among Fig. 8).
Device such as motor and battery and machine emulated hand portion leave, and concentrated being fixed between people's waist, thereby alleviate the quality of hand, are convenient to actual use the in disabled person's daily life.
Mechanical artificial hand of the present invention uses lightweight materials such as plastics or alloy to make, and light weight is easy to use, and the drive motors part is separated with hand, has alleviated the hand quality, is convenient to the disabled person to wear use; More than, take three kinds of different interference type of drive, increased the function of use of mechanical prosthetic hand at finger part to different users; The wrist position is equipped with 3 turning cylinders, makes to do evil through another person and can rotate, and is easy to use; On this surface of doing evil through another person piezoelectric transducer can be installed, hold the situation of object, thereby control is done evil through another person and held object effectively so that do evil through another person to control chip feedback.