CN102178574B - Compact bionic bendable artificial wrist joint - Google Patents
Compact bionic bendable artificial wrist joint Download PDFInfo
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- CN102178574B CN102178574B CN 201110120504 CN201110120504A CN102178574B CN 102178574 B CN102178574 B CN 102178574B CN 201110120504 CN201110120504 CN 201110120504 CN 201110120504 A CN201110120504 A CN 201110120504A CN 102178574 B CN102178574 B CN 102178574B
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- speed reducing
- planetary gear
- reducing mechanism
- gear speed
- planetary
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Abstract
The invention relates to a compact bionic bendable artificial wrist joint, which comprises an upper base, a lower base, a motor module and a planetary reduction mechanism, wherein the direct current motor output shaft of the motor module is connected with a primary planetary transmission mechanism, and a planetary transmission disc in the primary planetary transmission mechanism and the output gear shaft of an output mechanism are combined face to face by two self-locking half rack sheets of a self-locking mechanism and in meshed connection; and the planetary reduction mechanism inner gear ring and planetary reduction mechanism shell of the planetary reduction mechanism are connected by clearance fit, and the planetary reduction mechanism is inserted into the output gear shaft of the motor module from one side of a sealing cover of the planetary reduction mechanism, so that three secondary planetary transmission gears are meshed with the output gear shaft. In the invention, a three-stage planetary transmission mechanism is adopted, a hand and a wrist are connected by using a deep groove ball bearing of a small radial size as a supporting structure, and the novel structure can allow the hand to rotate around the central shaft of a motor to realize the bending and extending of the artificial wrist and can improve the bionic performance and reliability of the wrist joint and reduce volume.
Description
Technical field
But the present invention relates to a kind of electronic flexing carpal joint of doing evil through another person, especially a kind of EMG-controlling prosthetic hand engages the bent wrist device of realizing myoelectricity control.
Background technology
Human artificial hand has cosmetic hand and functional doing evil through another person, and cosmetic hand has cosmetic result, can not finish any functional action, and functional doing evil through another person can be finished specific action, is generally grasping, bends and stretches and rotates.Normal staff has 27 degree of freedom, now general EMG-controlling prosthetic hand can be finished finger and stretches in the wrong, wrist and stretch three groups of actions of external rotation in the wrong, the wrist, degree of freedom is few, does evil through another person and can only lean on the mobile of forearm to drive, do evil through another person can not be independent finish functional action by bending and stretching of wrist.
The product of doing evil through another person that has at present bent wrist function both at home and abroad adopts external sector gear driven Design mostly, and security reliability is not high, and center of rotation is at the carpal joint upper position, and can not simulate around the carpal joint center rotating.
It is more bionical to have doing evil through another person of bent wrist function, and it can finish the movement that grasps article by bending and stretching of wrist, can reduce like this energy loss that mobile whole arm brings.But if can invent the flexing carpal joint of doing evil through another person that a kind of volume weight is little, have imitation carpal joint center rotating, will have practical significance to changing existing wrist joint function.
Summary of the invention
The present invention will provide a kind of compact bionic bendable artificial wrist joint, this wrist joint structure compactness of doing evil through another person, lightweight, the flexor that can realize by myoelectricity control wrist, more bionical for disabled persons doing evil through another person.
For achieving the above object, technical scheme of the present invention is: a kind of compact bionic bendable artificial wrist joint, comprise top base, and bottom base, motor module, planetary gear speed reducing mechanism is characterized in:
Motor module is comprised of direct current generator, one-level epicyclic transmission mechanism, self-locking mechanism, output mechanism, the direct current generator output shaft is connected with the one-level epicyclic transmission mechanism, between the Gear Planet Transmission dish in the one-level epicyclic transmission mechanism and the output gear axle of output mechanism by after the relative applying of two self-lockings, half tooth bar sheet of self-locking mechanism and the output gear axle be connected with a joggle; The output gear axle is connected with the copper ring interference fit, and copper ring is connected with the outer ring for fixing interference fit of motor output shaft;
Planetary gear speed reducing mechanism is by the secondary planet travelling gear, the third-level planetary travelling gear, the planetary gear speed reducing mechanism drive plate, planetary gear speed reducing mechanism output panel, the planetary gear speed reducing mechanism ring gear, planetary gear speed reducing mechanism shell and planetary gear speed reducing mechanism closing cap consist of, the planetary gear speed reducing mechanism ring gear is connected with planetary gear speed reducing mechanism shell interference fit, planetary gear speed reducing mechanism output panel places in the planetary gear speed reducing mechanism shell, and respectively with three third-level planetary travelling gear matched in clearance, three third-level planetary travelling gears and the engagement of planetary gear speed reducing mechanism ring gear, three third-level planetary travelling gears and the engagement of planetary gear speed reducing mechanism drive plate, the planetary gear speed reducing mechanism drive plate respectively with three secondary planet travelling gear matched in clearance, be fixedly connected with the planetary gear speed reducing mechanism closing cap on the planetary gear speed reducing mechanism shell input; Planetary gear speed reducing mechanism makes the engagement of three secondary planet travelling gears and output gear axle by the output gear axle of planetary gear speed reducing mechanism closing cap one side insertion motor module; Top base is connected with planetary gear speed reducing mechanism output panel by three screw rods, and is connected with the ultra-thin zanjon bearing that inner ring is fixed on the motor housing by the outer ring for fixing of bearing.
After motor module and the engagement of planetary gear speed reducing mechanism planet, be fixed on the bottom base by three screw rods.
The present invention has the following advantages and beneficial effect:
The solution of this patent success the unaccommodated drawback of volume, quality and gear ratio, be more or less the same with volume and the quality of normal human's anatomical extremity.This patent is used third-level planetary wheel drive mechanism, and the rotation by motor realizes bending and stretching of artificial limb wrist, can improve greatly deformed limb person's quality of life, has also strengthened bionical effect, more hommization.
Characteristics of the present invention:
(1) compact conformation, volume is little
(2) material is suitable, and quality is light
(3) three grades of decelerations, gear ratio is large
(4) gradation assembling, easily assembling
(5) ultra-thin zanjon bearing is housed, rotates more level and smooth
(6) reduce kwh loss.
Description of drawings
Fig. 1 is structural upright general assembly drawing of the present invention;
Fig. 2 is the motor module front view;
Fig. 3 is along the cutaway view of A-A among Fig. 2;
Fig. 4 is the planetary gear speed reducing mechanism front view;
Fig. 5 is along the cutaway view of B-B among Fig. 4;
Fig. 6 is planetary gear speed reducing mechanism closing cap structural perspective;
Fig. 7 is upper and lower pedestal profile;
But Fig. 8 is do evil through another person electronic flexing carpal joint and the nature position axonometric chart of doing evil through another person, the arm cylinder is connected;
But Fig. 9 is do evil through another person electronic flexing carpal joint and the bent wrist position axonometric chart of doing evil through another person, the arm cylinder is connected.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done step explanation:
As shown in Figure 1, compact bionic bendable artificial wrist joint of the present invention is by top base 19, bottom base 18, and motor module 21, planetary gear speed reducing mechanism 22 forms.
After motor module 21 and the engagement of planetary gear speed reducing mechanism 22 planets, be fixed on the bottom base 18 by three screw rods.
The left plate of top base 19 is connected by three screws with planetary gear speed reducing mechanism 22 output panels 15, and the right side of top base 19 is connected by open stirrups with zanjon bearing 3 outer rings.But so just obtained the complete flexing carpal joint 24 of doing evil through another person as shown in Figure 1.
Such as Fig. 2, shown in 3, motor module 21 comprises direct current generator 1, one-level epicyclic transmission mechanism, self-locking mechanism, output mechanism.Direct current generator 1 output shaft is connected with the one-level epicyclic transmission mechanism.Motor output gear axle 9 and copper ring 10 interference fit in the motor module 21, copper ring 10 and outer ring for fixing 8 interference fit of motor output shaft.Two self-locking half tooth bar sheets 7 are fitted rear and 9 engagements of motor output gear axle relatively, and two feet that then drive plate 6 of three little bearings 5 of planetary reduction gear will be housed insert self-locking half tooth bar sheets 7.
The assembling of motor module 21 is two and half tooth bar sheets 7 to be contained in to form on the output gear axle 9 of output mechanism cooperate, again two and half tooth bar sheets 7 are cooperated with the Gear Planet Transmission dish 6 of one-level epicyclic transmission mechanism, then pack into together in the motor housing 4, inserting direct current generator 1 makes the output shaft of direct current generator 1 cooperate with 5 formation of three bearings, put into zanjon bearing 3, screw on motor pressing cover 2 and just formed complete motor module 21.
Such as Fig. 4, shown in 5, planetary gear speed reducing mechanism 22 is by secondary planet travelling gear 12, third-level planetary travelling gear 14, planetary gear speed reducing mechanism drive plate 13, planetary gear speed reducing mechanism output panel 15, planetary gear speed reducing mechanism ring gear 16, planetary gear speed reducing mechanism shell 17 and planetary gear speed reducing mechanism closing cap 11(Fig. 6) consist of.
Planetary gear speed reducing mechanism output panel 15 is cooperated with planetary gear speed reducing mechanism shell 17, the third level planetary gear 14 of packing into, third level planetary gear 14 be input as a middle planetary reducing gear drive plate 13, reinstall second level planetary gear 12 after changing planetary gear speed reducing mechanism drive plate 13 over to, screw on planetary gear speed reducing mechanism closing cap 11, so just finished the assembling of motor outer planet reducing gear.
The output gear axle 9 formative gears engagement that planetary gear speed reducing mechanism is inserted motor module 21 by planetary gear speed reducing mechanism closing cap 11 1 sides is again by via the fixing radial and axial degree of freedom of planetary gear speed reducing mechanism 22 of three standing screws of bottom base 18.
The assembly method of motor module 21 and bottom base 18: planetary gear speed reducing mechanism 22 is put into direct current generator shell 4 as a whole, and the direct current generator 1 of packing into makes its output shaft consist of to cooperate with three little bearings 5 of planetary reduction gear and realizes transmission.Again with the afterbody of this part by motor housing 4, the bottom base 18 of pressing among Fig. 7 inserts from right to left, the step of motor housing 4 heads is sunk in the counterbore of bottom base 18, at this moment the afterbody of zanjon bearing 3 by motor housing 4 inserted, its inner ring is withstood on the boss of bottom base 18.Screw on motor pressing cover 2.So just finished the assembling of motor module and bottom base 18.
But Fig. 8 is the nature position that flexing carpal joint 24 is connected with the module 23 of doing evil through another person, arm cylinder 25 of doing evil through another person.Be fixedly connected with do evil through another person module 23 by top base 19 but flexing is done evil through another person above the carpal joint 24, be fixedly connected with the arm cylinder below by bottom base 18.
In use, be fixed on the rotation of direct current generator 1 output shaft on the bottom base 18 by electromyographic signal control, the rotation of motor output shaft drives the rotation of the little bearing 5 of planetary reduction gear, the little bearing of planetary reduction gear drives Gear Planet Transmission dish 6 and rotates, Gear Planet Transmission dish 6 drives output gear axle 9 by self-locking mechanism and rotates, and has so just finished the one-level planetary reduction gear transmission of motor housing 4 inside.
Claims (1)
1. compact bionic bendable artificial wrist joint, comprise top base (19), bottom base (18), motor module (21), planetary gear speed reducing mechanism (22), it is characterized in that: described motor module (21) is by direct current generator (1), the one-level epicyclic transmission mechanism, self-locking mechanism, output mechanism forms, direct current generator (1) output shaft is connected with the one-level epicyclic transmission mechanism, between the Gear Planet Transmission dish (6) in the one-level epicyclic transmission mechanism and the output gear axle (9) of output mechanism by after the relative applying of two self-lockings, half tooth bar sheet (7) of self-locking mechanism and output gear axle (9) be connected with a joggle; Output gear axle (9) is connected with copper ring (10) interference fit, and copper ring (10) is connected with outer ring for fixing (8) interference fit of motor output shaft; Described planetary gear speed reducing mechanism (22) is by secondary planet travelling gear (12), third-level planetary travelling gear (14), planetary gear speed reducing mechanism drive plate (13), planetary gear speed reducing mechanism output panel (15), planetary gear speed reducing mechanism ring gear (16), planetary gear speed reducing mechanism shell (17) and planetary gear speed reducing mechanism closing cap (11) consist of, planetary gear speed reducing mechanism ring gear (16) is connected with planetary gear speed reducing mechanism shell (17) interference fit, planetary gear speed reducing mechanism output panel (15) places in the planetary gear speed reducing mechanism shell (17), and respectively with three third-level planetary travelling gears (14) matched in clearance, three third-level planetary travelling gears (14) and planetary gear speed reducing mechanism ring gear (16) engagement, three third-level planetary travelling gears (14) and planetary gear speed reducing mechanism drive plate (13) engagement, planetary gear speed reducing mechanism drive plate (13) respectively with three secondary planet travelling gears (12) matched in clearance, be fixedly connected with planetary gear speed reducing mechanism closing cap (11) on planetary gear speed reducing mechanism shell (17) input; Planetary gear speed reducing mechanism (22) makes three secondary planet travelling gears (12) and output gear axle (9) engagement by the output gear axle (9) of planetary gear speed reducing mechanism closing cap (11) one sides insertion motor modules (21); Top base (19) is connected with planetary gear speed reducing mechanism output panel (15) by three screw rods, and is connected with the ultra-thin zanjon bearing (3) that inner ring is fixed on the motor housing (4) by the outer ring for fixing (8) of bearing; After described motor module (21) and the engagement of planetary gear speed reducing mechanism (22) planet, be fixed on the bottom base (18) by three screw rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110120504 CN102178574B (en) | 2011-05-11 | 2011-05-11 | Compact bionic bendable artificial wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110120504 CN102178574B (en) | 2011-05-11 | 2011-05-11 | Compact bionic bendable artificial wrist joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102178574A CN102178574A (en) | 2011-09-14 |
| CN102178574B true CN102178574B (en) | 2013-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110120504 Expired - Fee Related CN102178574B (en) | 2011-05-11 | 2011-05-11 | Compact bionic bendable artificial wrist joint |
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| Country | Link |
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| CN (1) | CN102178574B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102429786A (en) * | 2011-10-11 | 2012-05-02 | 上海理工大学 | Angle controllable reclining and vertical electrical wheelchair with any sitting postures |
| CN103690279B (en) * | 2013-12-03 | 2016-01-13 | 上海交通大学 | A kind of drive lacking prosthetic hand system based on epicyclic train |
| CN111631846A (en) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | Two-degree-of-freedom artificial limb wrist |
| CN112494187B (en) * | 2020-11-30 | 2023-11-21 | 上海理工大学 | Bionic wrist device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE9001521D0 (en) * | 1990-04-26 | 1990-04-26 | Per Ingvar Branemark | SYSTEM AND METHOD FOR RECONSTRUCTION OF LEADERS, SPECIFICALLY GUIDELINES |
| DE29722973U1 (en) * | 1997-12-30 | 1999-03-25 | Thabe, Heiner, Dr.med., 55543 Bad Kreuznach | Prosthetic wrist |
| US6686437B2 (en) * | 2001-10-23 | 2004-02-03 | M.M.A. Tech Ltd. | Medical implants made of wear-resistant, high-performance polyimides, process of making same and medical use of same |
| FR2877209B1 (en) * | 2004-10-28 | 2007-02-02 | Dedienne Sante Soc Par Actions | LOWER RADIAL HEAD PROSTHESIS |
| CN202060917U (en) * | 2011-05-11 | 2011-12-07 | 上海理工大学 | Curved wrist joint of artificial limb |
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2011
- 2011-05-11 CN CN 201110120504 patent/CN102178574B/en not_active Expired - Fee Related
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| CN102178574A (en) | 2011-09-14 |
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