CN103690280B - Continuum transmission mechanism-based under-actuated prosthetic hand - Google Patents

Continuum transmission mechanism-based under-actuated prosthetic hand Download PDF

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CN103690280B
CN103690280B CN201310687094.XA CN201310687094A CN103690280B CN 103690280 B CN103690280 B CN 103690280B CN 201310687094 A CN201310687094 A CN 201310687094A CN 103690280 B CN103690280 B CN 103690280B
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finger
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CN103690280A (en
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徐凯
朱向阳
刘欢
杜宇恒
赵江然
刘国庆
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Shanghai Jiao Tong University
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Abstract

本发明公开了一种基于连续体传动机构的欠驱动假肢手,该假肢手包括电机驱动单元、连续体传动机构和机械手,其中连续体传动机构包括固定板、多根固定管、多根导向管、基座、多根从动丝、间隔盘以及锁紧盘;电机驱动单元包括电机、输出机构和多根驱动丝;以及机械手包括手掌和五个手指,每个手指具有多个指节;电机的转动可通过输出机构转化为驱动丝的直线运动,驱动丝的直线运动可驱动连续体传动机构发生变形,使得一端与锁紧盘固定的从动丝运动,从而驱动机械手各个手指完成相应的动作。本发明不使用铰链、连杆等传统的刚性的运动副有效消除了系统的回差并减轻了假肢手的重量,大量弹性合金丝的使用使假肢手具有很强的自适应能力。

The invention discloses an underactuated prosthetic hand based on a continuum transmission mechanism. The prosthetic hand includes a motor drive unit, a continuum transmission mechanism and a manipulator, wherein the continuum transmission mechanism includes a fixed plate, multiple fixed tubes, and multiple guide tubes , a base, a plurality of driven wires, a spacer disc and a locking disc; the motor drive unit includes a motor, an output mechanism and a plurality of drive wires; and the manipulator includes a palm and five fingers, each finger has a plurality of knuckles; the motor The rotation of the driving wire can be converted into the linear motion of the driving wire through the output mechanism, and the linear motion of the driving wire can drive the continuous body transmission mechanism to deform, so that the driven wire fixed at one end and the locking disc moves, thereby driving each finger of the manipulator to complete the corresponding action . The invention does not use traditional rigid kinematic pairs such as hinges and connecting rods, which effectively eliminates the hysteresis of the system and reduces the weight of the prosthetic hand. The use of a large number of elastic alloy wires makes the prosthetic hand have a strong self-adaptive ability.

Description

基于连续体传动机构的欠驱动假肢手Underactuated prosthetic hand based on continuum transmission mechanism

技术领域technical field

本发明涉及医用器械技术领域,特别涉及医用假肢手系统。The invention relates to the technical field of medical instruments, in particular to a medical prosthetic hand system.

背景技术Background technique

由于意外事故、工伤、疾病等原因,世界上产生了大量截肢患者,其中多半是手部截肢患者,他们无法独立完成日常的生活需求,因而生活质量显著降低。为了提高手部截肢残疾人的生活质量,相关公司和科研机构开发出了各种各样的假肢,包括取得广泛应用的单自由度假肢手以及具有仿人形的多自由度假肢手。Due to accidents, industrial injuries, diseases and other reasons, there are a large number of amputee patients in the world, most of whom are hand amputee patients. They cannot independently complete daily life needs, so the quality of life is significantly reduced. In order to improve the quality of life of people with hand amputations, related companies and scientific research institutions have developed a variety of prosthetics, including widely used single-free prosthetic hands and multi-free prosthetic hands with humanoid shapes.

单自由度假肢手可以通过简单的手指开合来完成有限的抓握动作,功能单一,实用性较差,且不具有仿人外形,穿戴以后与人体不和谐,易受到患者排斥;多自由度假肢手具有人手外观,易被患者接受,且设有与人手相近的关节数从而具有更好的灵活性,可以实现多种多样的动作,但是这种多自由度假肢手由于使用较多铰链、连杆或其他的传统传动方式,结构复杂、成本高,目前还没有得到广泛的应用。The single-free prosthetic hand can complete limited grasping actions through simple finger opening and closing. It has a single function, poor practicability, and does not have a humanoid shape. After wearing it, it is not harmonious with the human body and is easily rejected by patients; multiple degrees of freedom The prosthetic hand has the appearance of a human hand, is easily accepted by patients, and has a similar number of joints to the human hand, so it has better flexibility and can achieve a variety of actions. However, this multi-freedom prosthetic hand uses more hinges, Connecting rods or other traditional transmission methods have complex structures and high costs, and have not been widely used yet.

发明内容Contents of the invention

针对现有技术的上述缺点,本发明目的在于:采用较少的输入以控制假肢手多自由度的输出;同时避免使用铰链、连杆等结构复杂的运动副以减轻假肢手的重量并降低成本。In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to: use less input to control the output of the multi-degree-of-freedom of the prosthetic hand; simultaneously avoid the use of complex kinematic pairs such as hinges and connecting rods to reduce the weight of the prosthetic hand and reduce costs .

为实现上述目的,本发明提供了一种新型的欠驱动假肢手,采用较少的电机作为驱动输入,特别设计了一种柔性的传动机构,将驱动输入与驱动输出组成各部分完整相连的可连续变弹性变形的连续体,在合适的驱动输入情况下,连续体机构通过其整体的连续变形,可以输出较多的(多于驱动输入数量)运动输出。使用连续体机构传动所产生的各路运动输出各不相同,但相互之间具有合理的数学关系。使用各路运动输出实现假肢手各个关节的转动,从而使仿人形的假肢手实现灵活而协调的动作。由于机构中不使用铰链、连杆等传统的刚性的运动副,从而消除了系统的回差。大量使用弹性合金丝作为驱动与传递元件,使假肢手具有很强的自适应能力,同时明显减轻了假肢手的重量。系统采用较少的驱动输入,实现较多的运动输出,结构简单,成本明显降低。同时各路运动相互协调,使手指各个关节具有协调运动关系,假肢手从而可以完成更协调、与人手更为相近的运动。In order to achieve the above purpose, the present invention provides a new type of underactuated prosthetic hand, which uses less motors as the driving input, and specially designs a flexible transmission mechanism, which can completely connect the driving input and driving output components. For a continuum with continuously variable elastic deformation, under a suitable driving input, the continuum mechanism can output more (more than the number of driving inputs) motion output through its overall continuous deformation. The various motion outputs produced by the transmission of the continuum mechanism are different, but they have a reasonable mathematical relationship with each other. Use various motion outputs to realize the rotation of each joint of the prosthetic hand, so that the humanoid prosthetic hand can achieve flexible and coordinated movements. Since traditional rigid kinematic pairs such as hinges and connecting rods are not used in the mechanism, the hysteresis of the system is eliminated. A large number of elastic alloy wires are used as the driving and transmission elements, so that the prosthetic hand has a strong adaptive ability, and at the same time, the weight of the prosthetic hand is significantly reduced. The system adopts less driving input, realizes more motion output, has simple structure, and obviously reduces cost. At the same time, the various movements are coordinated with each other, so that the joints of the fingers have a coordinated movement relationship, so that the prosthetic hand can complete more coordinated movements that are closer to the human hand.

本发明的技术方案如下:Technical scheme of the present invention is as follows:

本发明主要由三个部分组成,包括电机驱动单元,连续体传动机构和具有仿人外形的自适应假肢手,以下对各部分进行详细的阐述。电机驱动单元:电机驱动单元由相似的两个部分组成,固定在同一个底座上。其中每一部分包含有一个电机固定在基板上,电机输出轴上固定有一个输出齿轮。同时有两根齿条在输出齿轮的两侧,分别通过线性导轨连接在基板上,齿条都与中间的齿轮啮合,当齿轮转动时两根齿条分别向不同方向运动。每根齿条上分别固定有一根弹性合金丝,当电机转动时,弹性合金丝就会做直线的推拉运动,同一个电机所驱动的两根弹性合金丝运动方向相反,但是运动距离相同。两个电机并排方式,驱动四根弹性合金丝,弹性合金丝穿过固定的金属管连接到连续体机构,作为连续体机构的运动输入。用于运动协同的连续体传动机构:此机构用于实现假肢手的欠驱动运动,将两对弹性合金丝的独立的运动输入转化为六根弹性合金丝相互协调的运动输出。机构由基座、间隔盘、锁紧盘、弹簧和弹性合金丝组成。基座、间隔盘上的相同位置有通孔,分别可供驱动丝和被驱动丝穿过,然后用锁紧盘将所有弹性合金丝锁紧固定,在基座、间隔盘和锁紧盘指间均有弹簧,穿在弹性合金丝上,用于保持各盘之间的间隔。在初始状态,连续体机构形状呈直线。当两路驱动输入推拉四根驱动丝时,连续体机构形成圆弧状的弯曲,输出丝也被动地形成相应形状,由于各个输出丝固定在锁紧盘上的不同位置,所以输出丝伸长缩短的长度各不相同。用输出丝驱动假肢手的各个关节,就可以形成各个手指不同程度的弯曲。具有仿人外形的自适应假肢手:此假肢手仿照人手尺寸构建,具有与人手相近的外观与尺寸,可以实现与人手相近的运动。主要由手掌和五根手指组成,五根手指分别固定在手掌上对应位置。与人手类似的,拇指具有四个自由度,由两根弹性合金丝驱动,一根固定在拇指指尖,穿过拇指第二指节、拇指第三指节后延伸到外部,用以实现大拇指的弯曲。另一根弹性合金丝固定在第四指节,穿过拇指固定基座和手掌,延伸到假肢手之外,用以实现拇指的侧摆。根据人手的特征,食指、中指、无名指和小指在尺寸上有一些不同,但具有相同的结构形式,均具有三个自由度。每根手指分别由一根弹性金属丝驱动,金属丝的一端固定在指尖,另一端穿过第二、三指节、手指基座及手掌,然后延伸到假肢手外。在外部推或者拉动弹性合金丝,即可实现对应手指的收紧或者展开。为了更贴近地实现与人手相似的运动功能,各关节指间均安装有扭簧,使手指各关节保持展开状态。The present invention is mainly composed of three parts, including a motor drive unit, a continuum transmission mechanism and an adaptive prosthetic hand with a humanoid shape, and each part will be described in detail below. Motor drive unit: The motor drive unit consists of two similar parts, fixed on the same base. Each part includes a motor fixed on the base plate, and an output gear is fixed on the output shaft of the motor. At the same time, there are two racks on both sides of the output gear, which are respectively connected to the base plate through linear guide rails. The racks are both meshed with the middle gear. When the gears rotate, the two racks move in different directions. An elastic alloy wire is respectively fixed on each rack. When the motor rotates, the elastic alloy wire will make a linear push-pull motion. The two elastic alloy wires driven by the same motor move in opposite directions, but the movement distance is the same. Two motors are arranged side by side to drive four elastic alloy wires, and the elastic alloy wires are connected to the continuum mechanism through a fixed metal tube as the motion input of the continuum mechanism. Continuum transmission mechanism for motion coordination: This mechanism is used to realize the underactuated motion of the prosthetic hand, and convert the independent motion input of two pairs of elastic alloy wires into the coordinated motion output of six elastic alloy wires. The mechanism is composed of a base, a spacer disc, a locking disc, a spring and an elastic alloy wire. There are through holes at the same position on the base and the spacer, which can respectively pass through the driving wire and the driven wire, and then use the locking disc to lock and fix all the elastic alloy wires. There are springs between them, which are worn on the elastic alloy wire to keep the distance between the discs. In the initial state, the shape of the continuum mechanism is straight. When the two-way driving input pushes and pulls the four driving wires, the continuum mechanism forms an arc-shaped bend, and the output wires also passively form a corresponding shape. Since each output wire is fixed at a different position on the locking disc, the output wire is elongated. The length of shortening varies. By using the output wire to drive each joint of the prosthetic hand, different degrees of bending of each finger can be formed. Adaptive prosthetic hand with human-like shape: This prosthetic hand is built to resemble the size of a human hand, has a similar appearance and size to a human hand, and can achieve similar movements to a human hand. It is mainly composed of the palm and five fingers, and the five fingers are respectively fixed at corresponding positions on the palm. Similar to the human hand, the thumb has four degrees of freedom, driven by two elastic alloy wires, one of which is fixed on the tip of the thumb, passes through the second knuckle of the thumb and the third knuckle of the thumb, and then extends to the outside to achieve large The flex of the thumb. Another elastic alloy wire is fixed on the fourth knuckle, passes through the thumb fixing base and the palm, and extends out of the prosthetic hand to realize the lateral swing of the thumb. According to the characteristics of the human hand, the index finger, middle finger, ring finger and little finger have some differences in size, but have the same structural form, and all have three degrees of freedom. Each finger is driven by an elastic metal wire. One end of the metal wire is fixed on the fingertip, and the other end passes through the second and third knuckles, the base of the finger and the palm, and then extends out of the prosthetic hand. Pushing or pulling the elastic alloy wire outside can realize the tightening or unfolding of the corresponding fingers. In order to more closely realize the movement function similar to that of the human hand, torsion springs are installed between the fingers of each joint to keep the joints of the fingers in an unfolded state.

本发明的整体工作原理如下,当程序控制电机转动不同角度时,通过齿轮齿条传动,使同一电机驱动的一对弹性合金丝做方向相反、距离相等的前后推拉。两对弹性合金丝延伸到连续体机构,作为连续体传动机构的驱动输入。由于两对驱动弹性合金的推拉运动使连续体向某一方向弯曲成圆弧状,固定在锁紧盘上的与驱动丝平行的从动丝被动地弯曲成相应形状,从而使从动丝也产生推拉运动。六根从动丝延伸到连续体外,用于驱动仿人形假肢手的五根手指,从而使假肢手各个手指弯曲或展开,从而实现抓取或操作物体的功能。The overall working principle of the present invention is as follows. When the program controls the motor to rotate at different angles, a pair of elastic alloy wires driven by the same motor can push and pull back and forth in opposite directions and at equal distances through rack and pinion transmission. Two pairs of elastic alloy wires extend to the continuum mechanism as the driving input of the continuum transmission mechanism. Due to the push-pull movement of the two pairs of driving elastic alloys, the continuum is bent into an arc shape in a certain direction, and the driven wire parallel to the driving wire fixed on the locking disc is passively bent into a corresponding shape, so that the driven wire also Create a push-pull motion. Six slave wires extend to the continuous body to drive the five fingers of the humanoid prosthetic hand, so that each finger of the prosthetic hand can be bent or unfolded, so as to realize the function of grasping or manipulating objects.

一种基于连续体传动机构的欠驱动假肢手,该假肢手包括电机驱动单元、连续体传动机构和机械手,其中,该连续体传动机构包括固定板、多根固定管、多根导向管、基座、多根从动丝、间隔盘以及锁紧盘,该固定管和导向管一端连接于基座,固定管的另一端连接于固定板,从动丝的一端固定在锁紧盘上,另一端依次穿过间隔盘、基座、导向管以及固定板并最终连接于机械手的手指;电机驱动单元包括电机、输出机构和多根驱动丝,驱动丝的一端固定于输出机构上,另一端依次穿过固定板、固定管、基座以及间隔盘,并紧固于锁紧盘;以及机械手包括手掌和五个手指,每个手指具有多个指节,相邻的两个指节之间可转动地连接;其中,电机驱动单元的电机的转动可通过输出机构转化为驱动丝的直线运动,驱动丝的直线运动可驱动连续体传动机构发生变形,使得一端与连续体传动机构的锁紧盘固定的从动丝运动,从而驱动机械手的各个手指完成相应的动作。An underactuated prosthetic hand based on a continuum transmission mechanism, the prosthetic hand includes a motor drive unit, a continuum transmission mechanism and a manipulator, wherein the continuum transmission mechanism includes a fixed plate, a plurality of fixed tubes, a plurality of guide tubes, a base seat, multiple driven wires, spacer discs and locking discs, one end of the fixing tube and guide tube is connected to the base, the other end of the fixing tube is connected to the fixing plate, one end of the driven wire is fixed on the locking disc, and the other end One end passes through the spacer disc, the base, the guide tube and the fixed plate in sequence and is finally connected to the finger of the manipulator; the motor drive unit includes a motor, an output mechanism and multiple driving wires, one end of the driving wire is fixed on the output mechanism, and the other end is sequentially Pass through the fixed plate, the fixed tube, the base and the spacer plate, and be fastened to the locking plate; and the manipulator includes the palm and five fingers, each finger has a plurality of knuckles, and there can be space between two adjacent knuckles. Rotationally connected; wherein, the rotation of the motor of the motor drive unit can be converted into the linear motion of the driving wire through the output mechanism, and the linear motion of the driving wire can drive the deformation of the continuum transmission mechanism, so that one end is connected with the locking disc of the continuum transmission mechanism The fixed driven wire moves to drive each finger of the manipulator to complete the corresponding action.

优选地,输出机构包括基板、输出齿轮、齿条、导轨和滑槽,该输出齿轮固定连接在电机的输出轴上,两根齿条平行地啮合于每个输出齿轮的两侧,每根齿条固定在导轨上,导轨尺寸与固定在基板上的滑槽的尺寸相匹配且可沿滑槽滑动,驱动丝与齿条固定连接。Preferably, the output mechanism includes a base plate, an output gear, a rack, a guide rail and a chute. The output gear is fixedly connected to the output shaft of the motor, and two racks are meshed on both sides of each output gear in parallel, and each tooth The bar is fixed on the guide rail, the size of the guide rail matches the size of the chute fixed on the base plate and can slide along the chute, and the driving wire is fixedly connected with the rack.

优选地,电机驱动单元包括两个电机和两个输出齿轮,两个电机经由两个输出齿轮和齿条共驱动四根驱动丝。Preferably, the motor drive unit includes two motors and two output gears, and the two motors drive four driving wires in total via the two output gears and the rack.

优选地,基座、固定板、间隔盘和锁紧盘都具有供驱动丝和从动丝穿过的小孔,小孔的分布根据所要实现的机械手动作来设定。Preferably, the base, the fixing plate, the spacer disc and the locking disc all have small holes for the driving wire and the driven wire to pass through, and the distribution of the small holes is set according to the action of the manipulator to be realized.

优选地,固定管设置在固定板和基座上相对应的供驱动丝穿过的小孔之间,导向管一端固定基座的小孔上,另一端穿过固定板延伸至机械手。Preferably, the fixing tube is arranged between the fixing plate and the corresponding small hole for the driving wire to pass through on the base, one end of the guide tube is fixed on the small hole of the base, and the other end passes through the fixing plate and extends to the manipulator.

优选地,在相邻的基座、间隔盘和锁紧盘之间穿过的数根驱动丝和/或从动丝上套有弹簧,使得基座、间隔盘和锁紧盘之间保持一定的距离。Preferably, several driving wires and/or driven wires passing between adjacent bases, spacers and locking plates are covered with springs, so that a certain distance is maintained between the bases, spacers and locking plates. distance.

优选地,五个手指包含大拇指,大拇指包括指尖、第二指节、第三指节、第四指节和固定基座,固定基座通过螺钉固定在手掌上,连续体传动机构的一根从动丝穿过大拇指的第四指节、第三指节和第二指节并固定在大拇指的指尖,这条从动丝的推拉运动能够实现大拇指的弯曲或伸展;连续体传动机构的另一根从动丝穿过手掌和固定基座并固定在大拇指的第四指节,这条从动丝的推拉运动能够实现大拇指的外展或内收。Preferably, the five fingers include a thumb, and the thumb includes a fingertip, a second knuckle, a third knuckle, a fourth knuckle and a fixed base, and the fixed base is fixed on the palm by screws, and the continuum transmission mechanism A driven wire passes through the fourth knuckle, third knuckle and second knuckle of the thumb and is fixed on the fingertip of the thumb. The pushing and pulling movement of this driven wire can realize the flexion or extension of the thumb; Another driven wire of the continuum transmission mechanism passes through the palm and the fixed base and is fixed on the fourth knuckle of the thumb. The push-pull movement of this driven wire can realize the abduction or adduction of the thumb.

优选地,五个手指包含食指、中指、无名指和小拇指,食指、中指、无名指和小拇指具有相似的结构,其中每根手指包括指尖、第二指节、第三指节和手指基座,手指基座通过螺钉固定在手掌上,连续体传动机构的四根从动丝分别穿过手掌及相应手指的手指基座、第三指节、第二指节并固定于相应手指的指尖,每条从动丝的推拉运动能够分别实现食指、中指、无名指和小拇指的弯曲或伸展。Preferably, five fingers include index finger, middle finger, ring finger and little finger, index finger, middle finger, ring finger and little finger have similar structure, wherein each finger includes fingertip, second knuckle, third knuckle and finger base, finger The base is fixed on the palm of the hand by screws, and the four driven wires of the continuum transmission mechanism respectively pass through the palm and the finger base, the third knuckle and the second knuckle of the corresponding finger and are fixed on the fingertip of the corresponding finger. The push-pull movement of the driven wire can respectively realize the bending or stretching of the index finger, middle finger, ring finger and little finger.

优选地,相邻的两个指节之间通过旋转销连接形成可转动的关节,关节处设有扭簧,使得从动丝未拉动手指运动时,手指能够保持展开伸直的状态。Preferably, two adjacent knuckles are connected by a rotating pin to form a rotatable joint, and a torsion spring is provided at the joint, so that when the driven wire does not pull the finger to move, the finger can maintain a stretched and straight state.

优选地,驱动丝和从动丝由高弹性镍钛合金丝制成,固定管由金属材料制成,导向管由聚四氟乙烯材料制成。Preferably, the driving wire and the driven wire are made of high-elastic nickel-titanium alloy wire, the fixing tube is made of metal material, and the guide tube is made of polytetrafluoroethylene material.

附图说明Description of drawings

图1为本发明的基于连续体传动机构的欠驱动假肢手的立体结构示意图;Fig. 1 is the schematic diagram of the three-dimensional structure of the underactuated prosthetic hand based on the continuum transmission mechanism of the present invention;

图2为图1中假肢手的电机驱动单元的立体结构示意图;Fig. 2 is the schematic diagram of the three-dimensional structure of the motor drive unit of the prosthetic hand in Fig. 1;

图3A为图1中假肢手的连续体传动机构的示意图;Fig. 3A is a schematic diagram of the continuum transmission mechanism of the prosthetic hand in Fig. 1;

图3B为图3A中连续体传动机构的连续体部分向某一方向弯曲形成圆弧的示意图;Fig. 3B is a schematic diagram of the continuum part of the continuum transmission mechanism in Fig. 3A being bent in a certain direction to form an arc;

图4A为图1中假肢手的机械手的示意图;Fig. 4A is a schematic diagram of the manipulator of the prosthetic hand in Fig. 1;

图4B为图4A中机械手的拇指结构的示意图;以及Figure 4B is a schematic diagram of the thumb structure of the manipulator in Figure 4A; and

图4C为图4A中机械手的食指结构的示意图。FIG. 4C is a schematic diagram of the structure of the index finger of the manipulator in FIG. 4A .

具体实施方式Detailed ways

以下将结合附图对本发明的较佳实施例进行详细说明,以便更清楚理解本发明的目的、特点和优点。应理解的是,附图所示的实施例并不是对本发明范围的限制,而只是为了说明本发明技术方案的实质精神。Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

图1为本发明的基于连续体传动机构的欠驱动假肢手的立体结构示意图。应注意,图1中所示的假肢手结构仅为了便于描述本发明的结构以及工作原理,不应理解为限制本发明。另外,需要指出的是,虽然图1中未示出,但本发明的假肢手还包括与人类手的形状相似的外壳。如图1所示,本发明的基于连续体传动机构的欠驱动假肢手包括电机驱动单元100、连续体传动机构200、机械手300和底座400,其中电机驱动单元100、连续体传动机构200和机械手300均固定在底座400上,电机驱动单元100驱动连续体传动机构200发生的变形,使得连续体传动机构200向机械手300传递输出从而控制机械手完成不同的动作。FIG. 1 is a schematic perspective view of the three-dimensional structure of the underactuated prosthetic hand based on the continuum transmission mechanism of the present invention. It should be noted that the structure of the prosthetic hand shown in FIG. 1 is only for describing the structure and working principle of the present invention, and should not be construed as limiting the present invention. In addition, it should be pointed out that although it is not shown in FIG. 1 , the prosthetic hand of the present invention also includes a shell similar in shape to a human hand. As shown in Figure 1, the underactuated prosthetic hand based on the continuum transmission mechanism of the present invention includes a motor drive unit 100, a continuum transmission mechanism 200, a manipulator 300 and a base 400, wherein the motor drive unit 100, the continuum transmission mechanism 200 and the manipulator 300 are fixed on the base 400, and the motor drive unit 100 drives the deformation of the continuum transmission mechanism 200, so that the continuum transmission mechanism 200 transmits output to the manipulator 300 to control the manipulator to complete different actions.

图2示出了假肢手的电机驱动单元100的立体结构示意图。如图2所示,电机驱动单元100包括固定在同一基板1上的相似的两部分101、102,其中第一电机驱动部分101包含一个电机2、输出齿轮3以及两根齿条4、5。电机2固定在基板1上,输出齿轮3固定连接在电机2的输出轴上,两根齿条4、5平行地啮合于输出齿轮3的两侧,每个齿条例如齿条4通过转接板6固定在导轨7上,或者齿条也可与导轨形成为一体。导轨7的尺寸与固定在基板1上的滑槽8的尺寸相匹配且可沿滑槽8滑动,从而输出齿轮3的转动可带动两个齿条分别沿不同方向运动,但运动距离相同。在齿条4、5上分别固定有驱动丝9、10,利用固定压块11和12压紧。当电机2转动时,驱动丝9、10就会做直线的推拉运动。FIG. 2 shows a schematic perspective view of the motor drive unit 100 of the prosthetic hand. As shown in FIG. 2 , the motor drive unit 100 includes two similar parts 101 , 102 fixed on the same substrate 1 , wherein the first motor drive part 101 includes a motor 2 , an output gear 3 and two racks 4 , 5 . The motor 2 is fixed on the base plate 1, the output gear 3 is fixedly connected to the output shaft of the motor 2, and the two racks 4 and 5 are meshed on both sides of the output gear 3 in parallel, and each rack such as the rack 4 is connected The plate 6 is fixed on the guide rail 7, or the rack can also be integrally formed with the guide rail. The size of the guide rail 7 matches the size of the chute 8 fixed on the base plate 1 and can slide along the chute 8, so that the rotation of the output gear 3 can drive the two racks to move in different directions, but the movement distance is the same. Drive wires 9 and 10 are respectively fixed on the racks 4 and 5, and are compressed by fixed pressing blocks 11 and 12. When the motor 2 rotates, the driving wires 9 and 10 will make linear push-pull motions.

第二电机驱动部分102与第一电机驱动部分101具有类似的结构,在此不再详述。第二电机驱动部分102的两根齿条也固定连接有两根驱动丝13、14。当两个并排的电机驱动各自的输出齿轮转动时,两对齿条连同各自的导轨在滑槽中沿直线滑动,从而带动相应的两对驱动丝9、10、13、14做直线推拉运动。同一个电机所驱动的一对驱动丝运动速度相同,运动方向相反。各驱动丝的另一端连接至连续体传动机构200,从而各驱动丝的推拉运动能够带动连续体传动机构弯曲成不同形状,下文将进一步阐述。The second motor driving part 102 has a structure similar to that of the first motor driving part 101, which will not be described in detail here. The two racks of the second motor driving part 102 are also fixedly connected with two driving wires 13 , 14 . When the two parallel motors drive the respective output gears to rotate, the two pairs of racks and their respective guide rails slide along a straight line in the chute, thereby driving the corresponding two pairs of driving wires 9, 10, 13, 14 to perform linear push-pull motion. A pair of drive wires driven by the same motor move at the same speed and in opposite directions. The other end of each driving wire is connected to the continuum transmission mechanism 200, so that the push-pull movement of each driving wire can drive the continuum transmission mechanism to bend into different shapes, which will be further described below.

较佳地,驱动丝9、10、13、14由高弹性镍钛合金丝制成。Preferably, the driving wires 9 , 10 , 13 , 14 are made of highly elastic nickel-titanium alloy wires.

图3A假肢手的连续体传动机构200的示意图。如图3A所示,连续体传动机构200包括固定板36、固定管15,16,17,18、导向管23、基座19、从动丝24,25,26,27,28,29、间隔盘20以及锁紧盘22。其中,从动丝的一端固定在锁紧盘22上,另一端依次穿过间隔盘20、基座19、导向管23以及固定板36并最终连接于机械手300。FIG. 3A is a schematic diagram of a continuum transmission mechanism 200 of a prosthetic hand. As shown in Figure 3A, the continuum transmission mechanism 200 includes a fixed plate 36, fixed tubes 15, 16, 17, 18, guide tube 23, base 19, driven wires 24, 25, 26, 27, 28, 29, spacers Disc 20 and locking disc 22. Wherein, one end of the driven wire is fixed on the locking disk 22 , and the other end passes through the spacer disk 20 , the base 19 , the guide tube 23 and the fixing plate 36 sequentially and is finally connected to the manipulator 300 .

具体地,在连续体传动机构200中,基座19和固定板36固定在底座400上,基座19、固定板36、间隔盘20和锁紧盘22都具有供驱动丝和从动丝穿过的小孔,所述小孔的分布根据所要实现的机械手动作来设定。图中示出有两个间隔盘20,然而应理解的是间隔盘的数量也可根据实际需求而改变。固定管设置在固定板和基座上相对应的供驱动丝穿过的小孔之间,来自电机驱动单元的两对驱动丝9、10、13、14穿过固定板36并分别由固定管15、16、17、18导向基座19,随后依次穿过基座19、间隔盘20,最后固定在锁紧盘22上。Specifically, in the continuum transmission mechanism 200, the base 19 and the fixed plate 36 are fixed on the base 400, and the base 19, the fixed plate 36, the spacer disc 20 and the locking disc 22 all have holes for the driving wire and the driven wire to pass through. The distribution of the small holes is set according to the action of the manipulator to be realized. There are two spacer discs 20 shown in the figure, but it should be understood that the number of spacer discs can also be changed according to actual needs. The fixed tube is arranged between the corresponding apertures on the fixed plate and the base for the drive wire to pass through, and two pairs of drive wires 9, 10, 13, 14 from the motor drive unit pass through the fixed plate 36 and are respectively driven by the fixed tube. 15 , 16 , 17 , 18 are guided to the base 19 , then pass through the base 19 , the spacer disc 20 in turn, and are finally fixed on the locking disc 22 .

在相邻的基座19、间隔盘20和锁紧盘22之间的驱动丝上套有弹簧21,从而可使各盘保持一定的距离。导向管一端固定基座的小孔上,另一端穿过固定板延伸至机械手,六根从动丝24、25、26、27、28、29的一端均紧固在锁紧盘22上,另一端依次穿过间隔盘20和基座19并由六根导向管23导向至固定板36,从固定板36穿出后与机械手相连。A spring 21 is sleeved on the driving wire between adjacent bases 19, spacer discs 20 and locking discs 22, so that each disc can be kept at a certain distance. One end of the guide tube is fixed on the small hole of the base, the other end passes through the fixed plate and extends to the manipulator, and one end of the six driven wires 24, 25, 26, 27, 28, 29 is fastened on the locking disc 22, and the other end It passes through the spacer plate 20 and the base 19 in turn and is guided to the fixed plate 36 by six guide tubes 23 , and is connected with the manipulator after passing through the fixed plate 36 .

较佳地,从动丝24、25、26、27、28、29由高弹性镍钛合金丝制成,固定管由金属材料制成,导向管由聚四氟乙烯材料制成。下面,为方便描述,将基座19后侧的驱动丝与从动丝部分以及间隔盘、弹簧和锁紧盘形成的结构称作连续体38。Preferably, the driven wires 24, 25, 26, 27, 28, 29 are made of high elastic nickel-titanium alloy wires, the fixing tube is made of metal material, and the guide tube is made of polytetrafluoroethylene material. In the following, for the convenience of description, the structure formed by the part of the driving wire and the driven wire at the rear side of the base 19 as well as the spacer, the spring and the locking disc is called a continuum 38 .

连续体38初始呈平直姿态。当电机驱动两对驱动丝做推拉运动时,每根驱动丝在连续体38中所处位置不同,驱动丝的运动带动连续体38做弯曲运动,从而导致一端紧固在锁紧盘上的从动丝做相应的拉伸运动。图3B示出了连续体38向下弯曲形成弧形的示意图,六根从动丝分别固定在锁紧盘上的不同位置,不同的从动丝随着连续体的弯曲运动发生的拉伸运动也各不相同,因此延伸到机械手的六根从动丝可驱动各个手指作出不同的动作。通过改变电机的转动方向或速度,可以得到不同的驱动丝输出,从而获得不同的连续体弯曲运动,并通过从动丝控制机械手呈不同的姿态。The continuum 38 initially assumes a straight posture. When the motor drives two pairs of drive wires to do push-pull motions, each drive wire is located in a different position in the continuum 38, and the movement of the drive wires drives the continuum 38 to perform a bending motion, thereby resulting in a slave with one end fastened on the locking disc. The moving wire makes a corresponding stretching motion. Figure 3B shows a schematic diagram of the continuum 38 bending downwards to form an arc. The six driven wires are respectively fixed at different positions on the locking disk, and the stretching movement of different driven wires along with the bending movement of the continuum is also Each finger is different, so the six driven wires extending to the manipulator can drive each finger to make a different movement. By changing the rotation direction or speed of the motor, different driving wire outputs can be obtained, thereby obtaining different continuum bending motions, and controlling the manipulator to assume different postures through the driven wire.

图4A示出了机械手300的示意图。如图4所示,机械手300具有与人手相似的外形及关节结构,机械手300包括手掌30、大拇指31、食指32、中指33、无名指34和小拇指35,各个手指具有多个指节,相邻的两个指节之间可以相互转动,手指根部固定在手掌的合适位置,六根末端固定在连续体传动机构的锁紧盘22上的从动丝24、25、26、27、28、29穿过导向管23进入手掌并连接于各个手指,下文将详细描述。FIG. 4A shows a schematic diagram of a manipulator 300 . As shown in Figure 4, the manipulator 300 has a shape and joint structure similar to that of a human hand. The manipulator 300 includes a palm 30, a thumb 31, an index finger 32, a middle finger 33, a ring finger 34 and a little finger 35. Each finger has a plurality of knuckles adjacent to each other. The two knuckles can rotate mutually, the root of the finger is fixed at the proper position of the palm, and the driven wires 24, 25, 26, 27, 28, 29 whose ends are fixed on the locking disc 22 of the continuum transmission mechanism pass through The guide tube 23 enters the palm and is connected to each finger, which will be described in detail below.

图4B示出了大拇指的结构及其与手掌的连接关系;图4C示出了分离的食指的结构。如图4B所示,大拇指包括指尖41、第二指节42、第三指节43、第四指节44和固定基座45,固定基座45通过螺钉46固定在手掌上,第四指节和固定基座之间、第三指节和第四指节之间、第二指节和第三指节之间以及指尖和第二指节之间通过旋转销连接因而具有可旋转的关节。大拇指由两根从动丝24、25控制,其中,从动丝24固定在大拇指的指尖41并穿过大拇指的第二指节42、第三指节43和第四指节44而延伸到外部,推拉从动丝24实现大拇指31的弯曲或伸展;从动丝25固定在第四指节44,并穿过固定基座45和手掌延伸到假肢手之外,推拉从动丝25可实现大拇指31的外展或内收。Figure 4B shows the structure of the thumb and its connection with the palm; Figure 4C shows the structure of the separated index finger. As shown in Figure 4B, the thumb includes a fingertip 41, a second knuckle 42, a third knuckle 43, a fourth knuckle 44 and a fixed base 45, the fixed base 45 is fixed on the palm by a screw 46, the fourth knuckle Between the knuckles and the fixed base, between the third knuckles and the fourth knuckles, between the second knuckles and the third knuckles, and between the fingertips and the second knuckles are connected by rotating pins and thus have a rotatable joints. The thumb is controlled by two driven wires 24, 25, wherein the driven wire 24 is fixed on the fingertip 41 of the thumb and passes through the second phalanx 42, the third phalanx 43 and the fourth phalanx 44 of the thumb While extending to the outside, the push-pull driven wire 24 realizes the bending or extension of the thumb 31; The wire 25 can realize the abduction or adduction of the thumb 31 .

食指32、中指33、无名指34和小拇指35长度各不相同,但具有相似的结构,分别由弹性合金丝26、27、28、29驱动。以食指为例,如图4C所示,食指32包括指尖47、第二指节48、第三指节49、食指基座50,其中食指基座50通过螺钉46固定在手掌上,第三指节和食指基座之间、第二指节和第三指节之间、指尖和第二指节之间均通过旋转销连接因而具有可旋转的关节。食指由从动丝26控制,从动丝26固定在食指指尖47并穿过食指的第二指节48、第三指节49以及食指基座50延伸到外部,推拉从动丝26可以实现食指32的弯曲或伸展。The index finger 32 , middle finger 33 , ring finger 34 and little finger 35 have different lengths, but have similar structures and are respectively driven by elastic alloy wires 26 , 27 , 28 , and 29 . Taking the index finger as an example, as shown in Figure 4C, the index finger 32 includes a fingertip 47, a second knuckle 48, a third knuckle 49, and a base for the index finger 50, wherein the base for the index finger 50 is fixed on the palm by a screw 46, and the third knuckle is fixed on the palm of the hand by a screw 46. Between the phalanx and the base of the index finger, between the second phalanx and the third phalanx, and between the fingertip and the second phalanx are all connected by rotating pins and thus have rotatable joints. Index finger is controlled by driven wire 26, driven wire 26 is fixed on index finger fingertip 47 and extends to the outside through second knuckle 48, third knuckle 49 and index finger base 50 of index finger, pushing and pulling driven wire 26 can realize Flexion or extension of index finger 32 .

由于从动丝24、26、27、28、29分别控制大拇指、食指、中指、无名指和小拇指的三个关节,手指在外力作用下,可以自适应所接触物体的形状。此外,各个关节处安装有扭簧37,可以在从动丝未被推拉时使手指保持展开伸直的状态。Since the driven wires 24, 26, 27, 28, 29 respectively control the three joints of the thumb, index finger, middle finger, ring finger and little finger, the fingers can adapt to the shape of the contacted object under the action of external force. In addition, torsion springs 37 are installed at each joint, which can keep the fingers extended and stretched when the driven wire is not pushed or pulled.

本发明的基于连续体传动机构的欠驱动假肢手,当程序控制电机转动不同角度时,通过齿轮齿条传动,使同一电机驱动的一对驱动丝做方向相反、距离相等的前后推拉。两对驱动丝延伸到连续体传动机构,作为连续体传动机构的驱动输入。两对驱动丝的推拉运动使连续体向某一方向弯曲成圆弧状,固定在锁紧盘上的从动丝随之发生弯曲,从而使从动丝也产生推拉运动。六根从动丝延伸到连续体外,用于驱动仿人形假肢手的五根手指,使假肢手各个手指弯曲或展开,从而实现抓取或操作物体的功能。The underactuated prosthetic hand based on the continuum transmission mechanism of the present invention, when the program controls the motor to rotate at different angles, through the rack and pinion transmission, a pair of driving wires driven by the same motor can push and pull back and forth in opposite directions and at equal distances. Two pairs of drive wires extend to the continuum transmission mechanism as drive inputs for the continuum transmission mechanism. The push-pull movement of the two pairs of driving wires makes the continuum bend in a certain direction into an arc shape, and the driven wire fixed on the locking disc bends accordingly, so that the driven wire also produces a push-pull motion. Six slave wires extend to the continuous body to drive the five fingers of the humanoid prosthetic hand, so that each finger of the prosthetic hand can be bent or unfolded, so as to realize the function of grasping or manipulating objects.

以上已详细描述了本发明的较佳实施例,但应理解到,在阅读了本发明的上述讲授内容之后,本领域技术人员可以对本发明作各种改动或修改。这些等价形式同样落于本申请所附权利要求书所限定的范围。The preferred embodiments of the present invention have been described in detail above, but it should be understood that those skilled in the art can make various changes or modifications to the present invention after reading the above teaching content of the present invention. These equivalent forms also fall within the scope defined by the appended claims of this application.

Claims (10)

1.一种基于连续体传动机构的欠驱动假肢手,其特征在于,所述假肢手包括电机驱动单元、连续体传动机构和机械手,其中,1. A kind of underactuated prosthetic hand based on continuum transmission mechanism, it is characterized in that, described prosthesis hand comprises motor drive unit, continuum transmission mechanism and manipulator, wherein, 所述连续体传动机构包括固定板、多根固定管、多根导向管、基座、多根从动丝、间隔盘以及锁紧盘,所述固定管和所述导向管一端连接于所述基座,所述固定管的另一端连接于所述固定板,所述从动丝的一端固定在所述锁紧盘上,另一端依次穿过所述间隔盘、所述基座、所述导向管以及所述固定板并最终连接于所述机械手的手指;The continuum transmission mechanism includes a fixed plate, a plurality of fixed tubes, a plurality of guide tubes, a base, a plurality of driven wires, a spacer disc and a locking disc, and one end of the fixed tube and the guide tube is connected to the base, the other end of the fixed tube is connected to the fixed plate, one end of the driven wire is fixed on the locking disc, and the other end passes through the spacer disc, the base, the The guide tube and the fixed plate are finally connected to the fingers of the manipulator; 所述电机驱动单元包括电机、输出机构和多根驱动丝,所述驱动丝的一端固定于所述输出机构上,另一端依次穿过所述固定板、所述固定管、所述基座以及所述间隔盘,并紧固于所述锁紧盘;以及The motor drive unit includes a motor, an output mechanism and a plurality of driving wires, one end of the driving wire is fixed on the output mechanism, and the other end passes through the fixing plate, the fixing tube, the base and the the spacer disc, fastened to the shrink disc; and 所述机械手包括手掌和五个手指,每个手指具有多个指节,相邻的两个指节之间可转动地连接;其中,The manipulator includes a palm and five fingers, each finger has a plurality of knuckles, and two adjacent knuckles are rotatably connected; wherein, 所述电机驱动单元的电机的转动可通过所述输出机构转化为所述驱动丝的直线运动,所述驱动丝的直线运动可驱动所述连续体传动机构发生变形,使得一端与所述连续体传动机构的锁紧盘固定的所述从动丝运动,从而驱动所述机械手的各个手指完成相应的动作。The rotation of the motor of the motor drive unit can be converted into the linear motion of the driving wire through the output mechanism, and the linear motion of the driving wire can drive the deformation of the continuum transmission mechanism, so that one end is connected to the continuum The driven wire fixed by the locking disk of the transmission mechanism moves, thereby driving each finger of the manipulator to complete corresponding actions. 2.如权利要求1所述的欠驱动假肢手,其特征在于,所述输出机构包括基板、输出齿轮、齿条、导轨和滑槽,所述输出齿轮固定连接在电机的输出轴上,两根齿条平行地啮合于每个输出齿轮的两侧,每根齿条固定在导轨上,导轨尺寸与固定在基板上的滑槽的尺寸相匹配且可沿滑槽滑动,所述驱动丝与所述齿条固定连接。2. The underactuated prosthetic hand as claimed in claim 1, wherein the output mechanism comprises a base plate, an output gear, a rack, a guide rail and a chute, and the output gear is fixedly connected to the output shaft of the motor, and the two The root racks are meshed on both sides of each output gear in parallel, each rack is fixed on the guide rail, the size of the guide rail matches the size of the chute fixed on the base plate and can slide along the chute, the drive wire and The rack is fixedly connected. 3.如权利要求2所述的欠驱动假肢手,其特征在于,所述电机驱动单元包括两个电机和两个输出齿轮,所述两个电机经由所述两个输出齿轮和所述齿条共驱动四根驱动丝。3. The underactuated prosthetic hand of claim 2, wherein the motor drive unit comprises two motors and two output gears, the two motors are connected via the two output gears and the rack A total of four driving wires are driven. 4.如权利要求1所述的欠驱动假肢手,其特征在于,所述基座、固定板、间隔盘和锁紧盘都具有供所述驱动丝和所述从动丝穿过的小孔,所述小孔的分布根据所要实现的机械手动作来设定。4. The underactuated prosthetic hand of claim 1, wherein the base, the fixed plate, the spacer disc and the locking disc all have apertures for the drive wire and the driven wire to pass through , the distribution of the small holes is set according to the action of the manipulator to be realized. 5.如权利要求4所述的欠驱动假肢手,其特征在于,所述固定管设置在所述固定板和所述基座上相对应的供驱动丝穿过的小孔之间,所述导向管一端固定基座的小孔上,另一端穿过所述固定板延伸至所述机械手。5. The under-actuated prosthetic hand according to claim 4, wherein the fixing tube is arranged between the fixing plate and the corresponding small hole for the driving wire to pass through on the base, the One end of the guide pipe is fixed on the small hole of the base, and the other end passes through the fixing plate and extends to the manipulator. 6.如权利要求1所述的欠驱动假肢手,其特征在于,在相邻的基座、间隔盘和锁紧盘之间穿过的数根驱动丝和/或从动丝上套有弹簧,使得所述基座、间隔盘和锁紧盘之间保持一定的距离。6. The under-actuated prosthetic hand as claimed in claim 1, characterized in that, several driving wires and/or driven wires passing between adjacent bases, spacer discs and locking discs are covered with springs , so that a certain distance is maintained between the base, the spacer disc and the locking disc. 7.如权利要求1所述的欠驱动假肢手,其特征在于,所述五个手指包含大拇指,所述大拇指包括指尖、第二指节、第三指节、第四指节和固定基座,所述固定基座通过螺钉固定在手掌上,所述连续体传动机构的一根从动丝穿过大拇指的第四指节、第三指节和第二指节并固定在大拇指的指尖,这条从动丝的推拉运动能够实现大拇指的弯曲或伸展;所述连续体传动机构的另一根从动丝穿过所述手掌和所述固定基座并固定在大拇指的第四指节,这条从动丝的推拉运动能够实现大拇指的外展或内收。7. The underactuated prosthetic hand of claim 1 , wherein the five fingers comprise a thumb comprising a fingertip, a second knuckle, a third knuckle, a fourth knuckle and The fixed base is fixed on the palm of the hand by screws, and a driven wire of the continuum transmission mechanism passes through the fourth knuckle, the third knuckle and the second knuckle of the thumb and is fixed on the The fingertip of the thumb, the push-pull movement of this driven wire can realize the bending or extension of the thumb; the other driven wire of the continuum transmission mechanism passes through the palm and the fixed base and is fixed on The fourth knuckle of the thumb, the push-pull movement of this driven wire can realize the abduction or adduction of the thumb. 8.如权利要求1所述的欠驱动假肢手,其特征在于,所述五个手指包含食指、中指、无名指和小拇指,所述食指、中指、无名指和小拇指具有相似的结构,其中每根手指包括指尖、第二指节、第三指节和手指基座,所述手指基座通过螺钉固定在手掌上,所述连续体传动机构的四根从动丝分别穿过手掌及相应手指的手指基座、第三指节、第二指节并固定于相应手指的指尖,每条所述从动丝的推拉运动能够分别实现所述食指、中指、无名指和小拇指的弯曲或伸展。8. The underactuated prosthetic hand of claim 1, wherein said five fingers comprise an index finger, middle finger, ring finger, and little finger, said index finger, middle finger, ring finger, and little finger having similar structures, wherein each finger It includes the fingertip, the second knuckle, the third knuckle and the finger base, the finger base is fixed on the palm by screws, and the four driven wires of the continuum transmission mechanism respectively pass through the palm and the corresponding fingers The finger base, the third phalanx, and the second phalanx are fixed on the fingertips of the corresponding fingers, and the push-pull movement of each driven wire can respectively realize the bending or stretching of the index finger, middle finger, ring finger and little finger. 9.如权利要求7或8所述的欠驱动假肢手,其特征在于,相邻的两个指节之间通过旋转销连接形成可转动的关节,所述关节处设有扭簧,使得所述从动丝未拉动手指运动时,手指能够保持展开伸直的状态。9. The underactuated prosthetic hand as claimed in claim 7 or 8, wherein two adjacent knuckles are connected by a rotating pin to form a rotatable joint, and the joint is provided with a torsion spring, so that the When the above-mentioned driven wire does not pull the finger to move, the finger can keep spreading and straightening. 10.如权利要求1所述的欠驱动假肢手,其特征在于,所述驱动丝和所述从动丝由高弹性镍钛合金丝制成,所述固定管由金属材料制成,所述导向管由聚四氟乙烯材料制成。10. The under-actuated prosthetic hand as claimed in claim 1, wherein the driving wire and the driven wire are made of highly elastic nickel-titanium alloy wire, the fixing tube is made of metal material, and the The guide tube is made of polytetrafluoroethylene material.
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