CN104146800A - Mechanically-driven finger prosthesis - Google Patents
Mechanically-driven finger prosthesis Download PDFInfo
- Publication number
- CN104146800A CN104146800A CN201410426283.6A CN201410426283A CN104146800A CN 104146800 A CN104146800 A CN 104146800A CN 201410426283 A CN201410426283 A CN 201410426283A CN 104146800 A CN104146800 A CN 104146800A
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- dactylus
- middle finger
- nearly
- finger
- torsion spring
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Abstract
The invention belongs to the technical field of mechanical structure motion finger prostheses, and particularly relates to a mechanically-driven finger prosthesis. The mechanically-driven finger prosthesis comprises a receptor, a finger frame, a near finger knuckle, a first-stage reversing wheel, a near-middle finger knuckle torsion spring, a second-stage reversing wheel, a middle finger knuckle, a far finger knuckle, a middle-far finger knuckle torsion spring, a form closed slot cam and a flexible rope. According to the connection relation of the elements, the end, with a ball, of a connecting rod on the receptor is connected with the form closed slot cam in a sliding fit mode, and the form closed slot cam is movably connected with the finger frame after being fixedly connected with a cylindrical structure of the bottom of the near finger knuckle; the near finger knuckle, the middle finger knuckle and the far finger knuckle are sequentially and movably connected, the near-middle finger knuckle torsion spring is arranged at the connecting position of the near finger knuckle and the middle finger knuckle, and the middle-far finger knuckle torsion spring is installed at the connecting position of the middle finger knuckle and the far finger knuckle; meanwhile, one end of the flexible rope is fixed to a pulley-shaped structure at the tail end of the near finger knuckle, and the other end of the flexible rope is fixed to a pulley-shaped structure at the position of a middle-far finger knuckle after sequentially surrounding the first-stage reversing wheel, a pulley-shaped structure at the position of a near-middle finger knuckle and the second-stage reversing wheel.
Description
Technical field
The invention belongs to frame for movement motor type finger prosthesis technical field, be specifically related to a kind of motion structure design singly referring to.
Background technology
For the people with disability who loses Toe Transplantation for Segmental Finger dactylus, especially, for the people with disability of remaining dactylus root only, finger prosthesis can help them to realize the common function of finger well.But the finger prosthesis existing at present, or only there is effect attractive in appearance, not practicality; For electronic chip control, price is high, and the design cycle is long, can not in the middle of vast demander, be popularized.
Minority frame for movement finger prosthesis drive mechanism uses connecting rod or rack-and-pinion transmission more now, makes like this finger prosthesis too heavy, and movement effects is not good; And drive source mostly is carpometacarpal joints and elbow joint, therefore people with disability drives the mode of finger not often to be inconsistent with general firmly custom in use, and it is realized to daily life function inconvenient.
Summary of the invention
The object of the invention is: a kind of motor type finger prosthesis of pure frame for movement as transmission that use is provided, can effectively reduces costs and improve design efficiency and production efficiency;
The present invention is achieved through the following technical solutions:
A kind of mechanically operated finger prosthesis, it comprises: sensor, refer to frame, nearly dactylus, one-level reverse wheel, nearly middle finger joint torsion spring, secondary reverse wheel, middle finger joint, dactylus far away, in dactylus torsion spring far away, shape blind groove cam, flexible strand;
Described sensor is made up of sensor pad, diaphragm spring, connecting rod, ball;
Its annexation is as follows: sensor is fixed on and refers to that the connecting rod on sensor and shape blind groove cam slide are connected on frame, together with shape blind groove cam is connected with the cylindrical-shaped structure of nearly dactylus bottom after, be flexibly connected with finger frame by shape blind groove cam; Nearly dactylus, middle finger joint and dactylus far away are sequentially flexibly connected, and nearly middle finger joint torsion spring is installed in nearly dactylus and middle finger joint junction, dactylus torsion spring far away in middle finger joint and the installation of dactylus far away junction; Simultaneously, one-level reverse wheel is fixed on and refers on frame, secondary reverse wheel is fixed on middle finger joint, and one end of flexible strand is fixed on nearly dactylus end, the other end walk around successively and be fixed on after one-level reverse wheel, nearly middle finger joint joint, secondary reverse wheel on dactylus joint far away;
Further, the dactylus end of described nearly dactylus, middle finger joint, dactylus far away all has pulley-like structure for flexible strand connection for transmission, and on nearly dactylus, middle finger joint and dactylus far away, all there are two columniform bulge-structures, are used for installing torsion spring and support finger prosthesis shell;
Cylindrical-shaped structure part and the shape blind groove cam of described nearly dactylus bottom are integral type structure;
Sensor pad in described sensor is circular lid-like; Diaphragm spring is sleeved on sensor pad, and the inner peripheral surface of the outer conical surface of diaphragm spring and sensor pad fits tightly, and one end of connecting rod is fixed on the center of diaphragm spring, and the other end is flexibly connected with ball;
Described connecting rod make sensor pad place plane and shape blind groove cam place plane orthogonal;
Described nearly middle finger joint torsion spring and described in dactylus torsion spring far away be V font torsion spring, wherein, the revolution of torsion spring and windup-degree are determined by people with disability's firmly custom and interphalangeal angle.
Operation principle: sensor pad contacts with remaining severed finger, in the time of remaining severed finger extruding sensor pad, diaphragm spring compresses after being squeezed simultaneously, displacement diaphragm spring being produced by connecting rod passes to shape blind groove cam, shape blind groove cam is converted into the translation of connecting rod the fixed-axis rotation of nearly dactylus, the fixed-axis rotation of nearly dactylus is delivered to middle finger joint, dactylus far away by the rope sheave drive mechanism of the pulley-like structure composition of flexible strand, one-level reverse wheel, secondary reverse wheel, each dactylus joint, realizes three dactylus interlocks; In the time that extruding force disappears, diaphragm spring playback, drives the reverse deflection playback of nearly dactylus, rope sheave structure is ineffective, drive middle finger joint and dactylus far away to playback by torsion spring, get back to the basic poses of finger prosthesis, so just realized after residual finger inflection three dactylus of whole artificial limb finger synchronously bending.
The invention has the beneficial effects as follows:
(1) the present invention has used line to move drive mechanism, and not only quality is light and handy, can imbed in finger prosthesis, and the light-weight design of having fitted theory, the interlock that can also complete each dactylus is simultaneously rotated, and realizes the synchronous bending of three sections of dactylus, to imitate the flexure operation of finger;
(2) each dactylus of the present invention closes internode increases torsion spring, can realize the basic poses of post exercise playback and maintenance finger prosthesis, without increasing additional reset device, makes finger prosthesis structure more succinct, has alleviated weight;
(3) rope sheave structure of the present invention, can make finger prosthesis not only have beauty function, can also make it have practical value, can complete the motion of single clinodactyly, and, how under the cooperation of finger, can realize and the daily common function such as pinch, press from both sides, hold;
(4) the present invention has used pure mechanical transmission structure, without outer power-assisted, more reliable, more convenient;
(5) the present invention will drive with transmission and separate, in driving, use and meet the firmly mechanical induction installation of custom of human body, in transmission, use the rope sheave drive mechanism of Linear transmission, whole like this motion structure had both accomplished that modularity can design step by step, improve design efficiency, make again the lightweight greatly of whole motion structure, and can accomplish that type of drive meets people with disability and is firmly accustomed to and realizes required function;
(6) the present invention uses diaphragm spring, utilizes its special elastic curve can just meet common people's firmly custom;
(7) each dactylus length of the present invention can be customized according to people with disability's demand, by each dactylus length variation, entirety is singly referred to the impact that movement locus produces, can finely tune by the size of adjusting reverse wheel again, again to reach desirable motion bending effect.
Brief description of the drawings
Fig. 1 is finger prosthesis list phalanges shelf structure axonometric drawing;
Fig. 2 is finger prosthesis list phalanges shelf structure front view;
Fig. 3 is finger prosthesis list phalanges shelf structure cutaway view;
Fig. 4 is finger prosthesis list phalanges shelf structure left view;
Fig. 5 is the susceptor structures axonometric drawing of finger prosthesis;
Fig. 6 is the axonometric drawing of middle finger joint;
Fig. 7 is the axonometric drawing of dactylus far away;
Fig. 8 is the transmission schematic diagram of finger prosthesis rope sheave drive mechanism;
Fig. 9 is complete finger prosthesis axonometric drawing;
Wherein, 1-refers to dactylus torsion spring far away, 9-shape blind groove cam, 10-sensor pad, 11-diaphragm spring, 12-connecting rod, 13-flexible strand in frame, the nearly dactylus of 2-, 3-one-level reverse wheel, the nearly middle finger joint torsion spring of 4-, 5-secondary reverse wheel, 6-middle finger joint, 7-dactylus far away, 8-.
Detailed description of the invention
Referring to accompanying drawing 1,2,3,4, a kind of mechanically operated finger prosthesis, it comprises: sensor, refer to frame 1, nearly dactylus 2, one-level reverse wheel 3, nearly middle finger joint torsion spring 4, secondary reverse wheel 5, middle finger joint 6, dactylus 7 far away, in dactylus torsion spring 8 far away, shape blind groove cam 9, flexible strand 13;
Cylindrical-shaped structure part and the shape blind groove cam (9) of described nearly dactylus (2) bottom are integral type structure;
Referring to accompanying drawing 5, described sensor is made up of sensor pad 10, diaphragm spring 11, connecting rod 12, ball, and sensor pad 10 is circular lid-like; Diaphragm spring 11 is sleeved on sensor pad 10, and the inner peripheral surface of the outer conical surface of diaphragm spring 11 and sensor pad 10 fits tightly, and one end of connecting rod 12 is fixed on the center of diaphragm spring 11, and the other end is flexibly connected with ball;
It is the bending of 90 ° that described connecting rod 12 carries out four bending angles, and two bending angle place planes at two ends are parallel to each other, and all the other two bending angle place planes are all vertical with two bending angle place planes at two ends;
Referring to accompanying drawing 6,7, the dactylus end of described nearly dactylus 2, middle finger joint 6, dactylus 7 far away all has pulley-like structure for flexible strand 13 connection for transmissions, and on nearly dactylus 2, middle finger joint 6 and dactylus 7 far away, all there are two columniform bulge-structures, are used for installing torsion spring and support finger prosthesis shell;
Described nearly middle finger joint torsion spring (4) and described in dactylus torsion spring (8) far away be V font torsion spring, wherein, the revolution of torsion spring and windup-degree are determined by people with disability's firmly custom and interphalangeal angle;
Its annexation is as follows: sensor is fixed by screws in and is referred on frame 1 by diaphragm spring 11, one end and shape blind groove cam 9 sliding connections of connecting rod 12 on sensor with ball, and connecting rod 12 make sensor pad 10 place planes and shape blind groove cam 9 place planes orthogonal, after together with shape blind groove cam 9 is connected with the cylindrical-shaped structure of nearly dactylus 2 bottoms, the hinge arrangement that shape blind groove cam 9 is made up of bolt, nut refers to that frame 1 is flexibly connected; Nearly dactylus 2, middle finger joint 6 and dactylus 7 far away are flexibly connected by stud, nut order, and, nearly middle finger joint torsion spring 4 middle parts are sleeved on the stud that connects nearly dactylus 2 and middle finger joint 6, nearly middle finger joint torsion spring 4 both sides are stuck on the columniform bulge-structure on nearly dactylus 2 and middle finger joint 6, in dactylus torsion spring far away 8 middle parts be sleeved on the stud that connects middle finger joint 6 and dactylus 7 far away, in dactylus torsion spring far away 8 both sides be stuck on the columniform bulge-structure on middle finger joint 6 and dactylus 7 far away; Nearly middle finger joint torsion spring 4 and in dactylus torsion spring 8 far away all can realize post exercise playback and keep the vertical basic poses of finger prosthesis; Simultaneously, one-level reverse wheel 3 is fixed on and is referred on frame 1 by bolt, nut, secondary reverse wheel 5 is fixed on by screw in the cavity of middle finger joint 6, one end of flexible strand 13 is fixed in the pulley-like structure of nearly dactylus 2 ends, the other end walk around successively and be fixed on after the pulley-like structure, secondary reverse wheel 5 of one-level reverse wheel 3, nearly middle finger joint joint in the pulley-like structure of dactylus joint far away.
Operation principle: sensor pad 10 contacts with remaining severed finger, in the time of remaining severed finger extruding sensor pad 10, diaphragm spring 11 compresses after being squeezed simultaneously, displacement diaphragm spring 11 being produced by connecting rod 12 passes to shape blind groove cam 9, shape blind groove cam 9 is converted into the translation of connecting rod 12 fixed-axis rotation of nearly dactylus 2, the fixed-axis rotation of nearly dactylus 2 is delivered to middle finger joint 6, dactylus 7 far away by the rope sheave drive mechanism of the pulley-like structure composition of flexible strand 13, one-level reverse wheel 3, secondary reverse wheel 5, each dactylus joint, realizes three dactylus interlocks; In the time that extruding force disappears, diaphragm spring 11 playbacks, and drives the reverse deflection playback of nearly dactylus 2, rope sheave structure is ineffective, drive middle finger joint 6 and dactylus 7 far away to playback by torsion spring, get back to the basic poses of finger prosthesis, so just realized after residual finger inflection three dactylus of whole artificial limb finger synchronously bending.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. a mechanically operated finger prosthesis, it is characterized in that, comprising: sensor, refer to frame (1), nearly dactylus (2), one-level reverse wheel (3), nearly middle finger joint torsion spring (4), secondary reverse wheel (5), middle finger joint (6), dactylus (7) far away, in dactylus torsion spring (8) far away, shape blind groove cam (9), flexible strand (13);
Described sensor is made up of sensor pad (10), diaphragm spring (11), connecting rod (12), ball;
Its annexation is as follows: sensor is fixed on and refers on frame (1), connecting rod (12) on sensor and shape blind groove cam (9) sliding connection, after together with shape blind groove cam (9) is connected with the cylindrical-shaped structure of nearly dactylus (2) bottom, be flexibly connected with referring to frame (1) by shape blind groove cam (9); Nearly dactylus (2), middle finger joint (6) and dactylus (7) order far away are flexibly connected, and, nearly middle finger joint torsion spring (4) is installed in nearly dactylus (2) and middle finger joint (6) junction, dactylus torsion spring (8) far away in middle finger joint (6) and the installation of dactylus (7) far away junction; Simultaneously, one-level reverse wheel (3) is fixed on and refers on frame (1), secondary reverse wheel (5) is fixed on middle finger joint (6), one end of flexible strand (13) is fixed on nearly dactylus end, the other end walk around successively and be fixed on after one-level reverse wheel (3), nearly middle finger joint joint, secondary reverse wheel (5) on dactylus joint far away.
2. the mechanically operated finger prosthesis of one as claimed in claim 1, it is characterized in that, the dactylus end of described nearly dactylus (2), middle finger joint (6), dactylus (7) far away all has pulley-like structure for flexible strand (13) connection for transmission, and all has two columniform bulge-structures on nearly dactylus (2), middle finger joint (6) and dactylus (7) far away.
3. the mechanically operated finger prosthesis of one as claimed in claim 1, is characterized in that, cylindrical-shaped structure part and the shape blind groove cam (9) of described nearly dactylus (2) bottom are integral type structure.
4. the mechanically operated finger prosthesis of one as claimed in claim 1, is characterized in that, the sensor pad (10) in described sensor is circular lid-like; Diaphragm spring (11) is sleeved on sensor pad (10), and the inner peripheral surface of the outer conical surface of diaphragm spring (11) and sensor pad (10) fits tightly, one end of connecting rod (12) is fixed on the center of diaphragm spring (11), and the other end is flexibly connected with ball.
5. the mechanically operated finger prosthesis of one as claimed in claim 1, is characterized in that, described connecting rod (12) make sensor pad (10) place plane and shape blind groove cam (9) place plane orthogonal.
6. the mechanically operated finger prosthesis of one as claimed in claim 1, is characterized in that, described nearly middle finger joint torsion spring (4) and described in dactylus torsion spring (8) far away be V font torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410426283.6A CN104146800B (en) | 2014-08-26 | A kind of mechanically operated finger prosthesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410426283.6A CN104146800B (en) | 2014-08-26 | A kind of mechanically operated finger prosthesis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104146800A true CN104146800A (en) | 2014-11-19 |
| CN104146800B CN104146800B (en) | 2017-01-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688392A (en) * | 2015-02-07 | 2015-06-10 | 东北大学 | Complete body-powered bionic manipulator |
| CN105056548A (en) * | 2015-08-24 | 2015-11-18 | 杭州佳合舞台设备有限公司 | Buddha hand prop |
| CN107639643A (en) * | 2017-11-08 | 2018-01-30 | 贾岳杭 | A kind of mechanical finger |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6896704B1 (en) * | 1999-05-19 | 2005-05-24 | Harada Electronics Co., Ltd. | Movable finger for prostheses, upper extremity prostheses using this movable finger, and movable finger controller |
| CN1832711A (en) * | 2003-08-21 | 2006-09-13 | 丹尼尔·帝德里克 | Articulated artificial finger assembly |
| CN101496750A (en) * | 2009-01-24 | 2009-08-05 | 哈尔滨工业大学 | Passive driving type two-freedom degree artificial finger for disabled person |
| US20120303136A1 (en) * | 2010-07-14 | 2012-11-29 | Charles Colin Macduff | Mechanical prosthetic finger device |
| CN103284821A (en) * | 2013-05-27 | 2013-09-11 | 华中科技大学 | Thumb structure of prosthetic hand |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6896704B1 (en) * | 1999-05-19 | 2005-05-24 | Harada Electronics Co., Ltd. | Movable finger for prostheses, upper extremity prostheses using this movable finger, and movable finger controller |
| CN1832711A (en) * | 2003-08-21 | 2006-09-13 | 丹尼尔·帝德里克 | Articulated artificial finger assembly |
| CN101496750A (en) * | 2009-01-24 | 2009-08-05 | 哈尔滨工业大学 | Passive driving type two-freedom degree artificial finger for disabled person |
| US20120303136A1 (en) * | 2010-07-14 | 2012-11-29 | Charles Colin Macduff | Mechanical prosthetic finger device |
| CN103284821A (en) * | 2013-05-27 | 2013-09-11 | 华中科技大学 | Thumb structure of prosthetic hand |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104688392A (en) * | 2015-02-07 | 2015-06-10 | 东北大学 | Complete body-powered bionic manipulator |
| CN105056548A (en) * | 2015-08-24 | 2015-11-18 | 杭州佳合舞台设备有限公司 | Buddha hand prop |
| CN105056548B (en) * | 2015-08-24 | 2017-10-24 | 浙江佳合文化科技股份有限公司 | Buddha's hand stage property |
| CN107639643A (en) * | 2017-11-08 | 2018-01-30 | 贾岳杭 | A kind of mechanical finger |
| CN107639643B (en) * | 2017-11-08 | 2024-04-12 | 贾岳杭 | Mechanical finger |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
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Granted publication date: 20170104 Termination date: 20170826 |
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