CN104382674B - A kind of drive lacking prosthetic hand reappearing staff crawl function - Google Patents
A kind of drive lacking prosthetic hand reappearing staff crawl function Download PDFInfo
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- CN104382674B CN104382674B CN201410559465.0A CN201410559465A CN104382674B CN 104382674 B CN104382674 B CN 104382674B CN 201410559465 A CN201410559465 A CN 201410559465A CN 104382674 B CN104382674 B CN 104382674B
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Abstract
The present invention discloses and a kind of reappears the drive lacking prosthetic hand that staff captures function, and is provided with between finger driving mechanism and thumb drives mechanism in palm; Wherein pointing body take pulley as major parts, in finger, transmission rig adopts wireline to be alternately wound in successively on each pulley of finger, close internode in referring to and adopt elastic element flexible couplings, refer to that a driving mechanism adopts two motor coordinated drive four finger and its multiple degree of freedom; Thumb body is interior is major parts taking pulley, and in finger body, transmission rig adopts transmission rope as driving medium, refers to that a driving mechanism adopts a gear assembly to coordinate a transmission, it is achieved four degree of freedom of two electric machine control thumbs. Pass through the present invention, it is possible to accurately complete the self-adapting grasping to various object, the grasping manipulation function that reproduction staff is abundant, and possess compact construction, the feature such as volume and weight reduces further, be convenient to manipulation and grasp motion is accurate.
Description
Technical field
The invention belongs to medical apparatus and instruments technical field, more specifically, it relates to a kind of drive lacking prosthetic hand reappearing staff crawl function.
Background technology
Can be used by the mankind to make prosthetic hand and complete each task anthropomorphicly, except wanting to complete except various crawl task, the outward appearance of prosthetic hand and volume and staff also should be made close, and can adopt the few passage physiological signal that can obtain at present accurate as far as possible, realize the grasping manipulation task enriched with being convenient to manipulation. In order to achieve the above object, it is necessary to reduce the quantity of the drive-motor of prosthetic hand, reach prosthetic hand volume feature little, lightweight in this way.
Such as, the up-to-date the five fingers that have developed integrated level high with the degree that personalizes of domestic Harbin Institute of Technology and German Aerospace Center imitate staff, and this hand has very strong operational capability, but quality is up to 1.5kg, and is not suitable for the various application occasions of artificial limb. The National University of Defense technology develops a kind of drive lacking prosthetic hand, wherein by pointing corresponding outfit motor for each of prosthetic hand, and has pulled various flexible posture via wireline; But, the program still needs the input of five motors, and motor more than this kind inputs corresponding meeting and brings the defect that volume increases, weight increases, and is thus difficult to meet preferably that prosthetic hand is light and the requirement of the aspect such as degree convenient for control. In addition, the contriver of the applicant proposes a kind of drive lacking prosthetic hand in CN201310335089.2, although this prosthetic hand can solve volume and weight problem bigger than normal to a certain extent, but show along with the development of actual sample and later stage test, the quantity of its finger interior assembly is still too numerous and diverse, manipulation tolerance range has much room for improvement, and is necessary to make perfect further in the repdocutbility and multiple degree of freedom of complicated action.
Summary of the invention
For above defect or the Improvement requirement of prior art, the present invention provides a kind of drive lacking prosthetic hand reappearing staff crawl function, wherein by its key component as pointed interior transmission rig, concrete structure and the set-up mode thereof of module and thumb drives mechanism etc. is driven to improve between finger, four propulsion sources should be able to be adopted accurately to control 16 degree of freedom of prosthetic hand mutually, complete the self-adapting grasping to various object, the grasping manipulation function that reproduction staff is abundant, and possess compact construction, volume and weight reduces further, the feature such as be convenient to manipulation and grasp motion is accurate.
For achieving the above object, according to the present invention, it provides a kind of reappear staff capture function drive lacking prosthetic hand, this prosthetic hand comprise prosthetic hand body, finger in transmission rig, refer between drive module and thumb drives module, it is characterised in that:
By palm, mutually isostructural thumb, forefinger, middle finger, the third finger and little finger of toe form described prosthetic hand body jointly with possessing; Each finger comprises metacarpophalangeal joint assembly, nearly dactylus assembly, dactylus assembly far away and middle dactylus respectively, wherein metacarpophalangeal joint assembly comprise metacarpophalangeal joint, be horizontally installed on the metacarpophalangeal joint coupling shaft of this metacarpophalangeal joint proximal end, the first pulley of being arranged on this metacarpophalangeal joint coupling shaft between two parties along finger axial direction due, the first turning axle of being horizontally installed on this metacarpophalangeal joint far-end, and along the 2nd pulley that finger axial direction due is arranged on described first turning axle between two parties; Nearly dactylus assembly comprises the 2nd turning axle of the nearly dactylus being connected with described metacarpophalangeal joint far-end, the nearly dactylus far-end that is horizontally installed on this, and along the 3rd pulley that finger axial direction due is arranged on described 2nd turning axle between two parties; Dactylus assembly far away comprises dactylus far away, the 3rd turning axle of dactylus proximal end far away that is horizontally installed on this, the 4th pulley that is arranged on described 3rd turning axle between two parties along finger axial direction due, and is set in the finger end far away of dactylus far-end far away; Middle dactylus is cylindrical structure, and can relative be connected bendingly with dactylus far away with described nearly dactylus respectively at its two ends;
In described finger, transmission rig is separately positioned on the inside of above-mentioned five fingers, and comprise separately and the driving rope that described first pulley is connected, it is wrapped in described first pulley successively, 2nd pulley, tensioned lines on 3rd pulley and the 4th pulley, be arranged symmetrically with described tensioned lines and with it common simulation finger tendon loosen rope, the nearly dactylus coupling spring being arranged between described 2nd pulley and the 3rd pulley, and the middle dactylus coupling spring being arranged between described 3rd pulley and the 4th pulley, wherein, one end of this nearly dactylus coupling spring adopts the first nearly dactylus tensioned rope to be connected, and other one end of this first nearly dactylus tensioned rope is fixed on described metacarpophalangeal joint, other one end of this nearly dactylus coupling spring adopts the 2nd nearly dactylus tensioned rope to be connected, and the 2nd other one end of nearly dactylus tensioned rope be fixed on described middle dactylus, in addition, in this, one end of dactylus coupling spring adopts dactylus tensioned rope in first to be connected, and this is fixed on described nearly dactylus in other one end of dactylus tensioned rope in first, in this, other one end of dactylus coupling spring adopts dactylus tensioned rope in the 2nd to be connected, and in the 2nd, described dactylus far away is fixed in other one end of dactylus tensioned rope,
Between described finger, driving mechanism is arranged on the inside of described palm, and comprise and being set up in parallel and structure is identical the first driving module and the 2nd driving module, wherein each drives module to comprise mounting plate separately, it is arranged between the finger on this mounting plate drive-motor, the first gear that the output terminal of a drive-motor is connected is referred to this, the 2nd gear being meshed with this first gear, the screw mandrel being connected is kept with the 2nd gear, the feed screw nut being set on this screw mandrel, it is arranged on described mounting plate equally and all keeps the first parallel polished rod and the 2nd polished rod with described screw mandrel, it is set on the 2nd polished rod slidably and keeps relative the first fixing slide block with described feed screw nut, and the 2nd slide block being set in slidably on this first polished rod, in this way it would be possible, these slide blocks are connected with the described driving rope of described forefinger, middle finger, the third finger and little finger of toe inside respectively, each finger is thus driven to perform bending motion,
Described thumb drives module is arranged on the inside of described palm equally, and comprise the bending module of thumb and thumb side pendulum module, the drive pulley that its middle finger bending die block comprises the bending drive-motor of thumb, the output shaft of drive-motor bending with this thumb is connected, and the wireline conduit that wireline is equipped with in inside and its outlet aligns with the chute of this drive pulley, in this way; The bending drive-motor of thumb impels drive pulley to rotate, and drives wireline and described the drivings rope that is attached thereto to be connected, thus driving thumb execution bending motion; Thumb side pendulum module comprises thumb side pendulum drive-motor, thumb pedestal, bevel gear set and rotating shaft, its middle finger pedestal is fixed on thumb and palm connecting place by bearing pin, the output shaft that the driving toothed gear of bevel gear set puts drive-motor with thumb side is connected, its passive gear is then connected with rotating shaft, and rotating shaft keeps relative fixing with thumb pedestal, in this way it would be possible, thumb side pendulum drive-motor rotates drives bevel gear set and thumb pedestal, and then perform the side pendulum movement of thumb.
As further preferably, the dactylus place of each finger is preferably also provided with mechanical position limitation mechanism, what wherein metacarpophalangeal joint, nearly dactylus, middle dactylus and dactylus far away were positioned at the back of the hand one side is boss structure, and be positioned at palm of the hand one side in globoidal structure, thus guarantee that each dactylus can to bending 90 degree of the palm of the hand.
As further preferably, for each driving module of driving mechanism between described finger, it also comprises head rod, movable block and the 2nd union lever, wherein this first, second union lever all keeps perpendicular with described screw mandrel, and head rod is set in the near-end bearing of described movable block to slide and can not depart from, the 2nd union lever is set in the far-end bearing of described movable block slide and can not depart from.
As further preferably, the bending module of described thumb also comprises catheter proximal end fixed block and rear end of conduit fixed block, wherein catheter proximal end fixed block is arranged on the palm plate place forming palm main body, rear end of conduit fixed block is then arranged on described thumb pedestal place, is thus together fixed by described wireline conduit.
As further preferably, described first driving module is set to export different rotating speeds with the drive-motor in the 2nd driving module, and the action of auxiliary thumb, thus perform to comprise crawl, pinch the various motion got and refer to three capture.
In general, the above technical scheme conceived by the present invention compared with prior art, mainly possesses following technological merit:
1, the present invention is main composition parts taking pulley in finger, in finger, transmission rig adopts wireline to be aided with spring as driving medium, in this way it would be possible, it is bending and while stretching action to make finger accurately, effectively to complete, reduce the assembly complexity of the quantity of required element further; Especially by the structure of driving mechanism and the design of set-up mode between finger, it is achieved that two motors drive four fingers and multiple degree of freedom thereof; In addition, by the internal structure of thumb drives mechanism being designed, it is possible to while completing the bending action of thumb, action outside the adduction of thumb has been coordinated additionally by motor and bevel gear set; Four fingers coordinate a formation prosthetic hand with thumb and driving mechanism thereof, complete the complicated grasping movement to various object;
2, prosthetic hand of the present invention not only volume size and staff approximate and in motor function close to staff. The present invention has 1 thumb and 4 fingers, and thumb 3 joints all can bend, and comprises an overall side pendulum in addition; Other point each three bending joints totally 16 turning joint, use 4 motors altogether, and the weight of prosthetic hand of the present invention is light, volume is little, grasp force is relatively big and stable;
3, between the finger of prosthetic hand of the present invention, transmission module is by the input of two driving mechanism cooperation control four finger, when after a finger contact to object, by the cooperation control of two driving mechanisms, other movable blocks still can move, and then it is bending straight to drive other fingers to continue, thus realize the cooperative motion between referring to;
4, the finger transmission module of prosthetic hand of the present invention drives three joints to realize bending and stretching motion by by closing internode flexible couplings, what close that the design of internode flexible couplings both ensure that prosthetic hand complies with Grasping skill, and this kind of minimum elasticity constraint decoration form ensure that prosthetic hand realizes capturing function with extremely low energy consumption simultaneously.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the drive lacking prosthetic hand according to the preferred embodiment of the present invention;
Fig. 2 is the structure front view of three joint under-actuated fingers shown in Fig. 1;
Fig. 3 is the structure sectional view of three joint under-actuated fingers shown in Fig. 1;
Fig. 4 is the one-piece construction schematic diagram of transmission rig between finger shown in Fig. 1;
Fig. 5 is the one-piece construction schematic diagram of the transmission rig of thumb shown in Fig. 1.
Embodiment
In order to make the object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated. It is to be understood that specific embodiment described herein is only in order to explain the present invention, it is not intended to limit the present invention. In addition, if below in described each enforcement mode of the present invention involved technology feature do not form conflict each other and just can mutually combine.
Fig. 1 is the one-piece construction schematic diagram of the drive lacking prosthetic hand according to the preferred embodiment of the present invention. As shown in fig. 1, this drive lacking prosthetic hand mainly comprise prosthetic hand body, finger in transmission rig, refer between drive module and thumb drives module, wherein mainly through driving the structure of module and thumb drives module to improve between pointing interior transmission rig, referring to its key component, four propulsion sources can be adopted accurately to control 16 degree of freedom of prosthetic hand, complete the self-adapting grasping to various object, the grasping manipulation function that reproduction staff is abundant.
Specifically, see Fig. 2 and Fig. 3, by palm 1, mutually isostructural thumb 2, forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6 form prosthetic hand body jointly with possessing; Each finger comprises metacarpophalangeal joint assembly, nearly dactylus assembly, dactylus assembly far away and middle dactylus respectively. For metacarpophalangeal joint assembly, it comprises metacarpophalangeal joint 7, be horizontally installed on the metacarpophalangeal joint coupling shaft 8 of this metacarpophalangeal joint 7 proximal end, be arranged on this metacarpophalangeal joint coupling shaft 8 between two parties along finger axial direction due the first pulley 9, the first turning axle 10 being horizontally installed on this metacarpophalangeal joint 7 far-end, and along the 2nd pulley 11 that finger axial direction due is arranged on the first turning axle 10 between two parties; Metacarpophalangeal joint coupling shaft 8, first turning axle 10 is for example fixed by bearing with metacarpophalangeal joint 7, thus can relatively rotate and bend at metacarpophalangeal joint 7 place.
Nearly dactylus assembly comprises the 2nd turning axle 13 of the nearly dactylus 12 being connected with metacarpophalangeal joint 7 far-end, nearly dactylus 12 far-end that is horizontally installed on this, and along the 3rd pulley 14 that finger axial direction due is arranged on the 2nd turning axle 13 between two parties; Wherein the 2nd turning axle 13 with referring to nearly dactylus 12 such as is fixed by bearing, thus can relatively rotate; Dactylus assembly far away comprises dactylus 16 far away, the 3rd turning axle 17 of dactylus 16 proximal end far away that is horizontally installed on this, the 4th pulley 18 that is arranged on the 3rd turning axle 17 between two parties along finger axial direction due, and is set in the finger end 19 far away of dactylus 16 far-end far away; Middle dactylus 15 is for example in cylindrical structure, and can relative be connected bendingly with dactylus 16 far away with described nearly dactylus 12 respectively at its two ends.
Above-mentioned finger metacarpophalangeal joint, point nearly dactylus, dactylus in finger, point dactylus far away and refer between all have rotating shaft to fix, ensure that certain dactylus can rotate relative to other dactylus, each joint pulley is arranged symmetrically with all between two parties in addition.
As one of the key improvements of the present invention, in described finger, transmission rig is separately positioned on the inside of above-mentioned five fingers, and comprise separately and the driving rope 20 that described first pulley 9 is connected, it is wrapped in the first pulley 9 successively, 2nd pulley 11, tensioned lines 21 on 3rd pulley 14 and the 4th pulley 18, be arranged symmetrically with described tensioned lines 21 and with it common simulation finger tendon loosen rope 22, the nearly dactylus coupling spring 24 being arranged between the 2nd pulley 11 and the 3rd pulley 14, and the middle dactylus coupling spring 27 being arranged between the 3rd pulley 14 and the 4th pulley 18.
More specifically, one end of this nearly dactylus coupling spring 24 adopts the first nearly dactylus tensioned rope 23 to be connected, and other one end of this first nearly dactylus tensioned rope 23 for example adopts steel ball ball to be fixed on described metacarpophalangeal joint 7, other one end of this nearly dactylus coupling spring 24 adopts the 2nd nearly dactylus tensioned rope 25 to be connected, and described middle dactylus 15 is fixed in other one end of the 2nd nearly dactylus tensioned rope 25; In addition, in this, one end of dactylus coupling spring 27 adopts dactylus tensioned rope 26 in first to be connected, and other one end of this dactylus tensioned rope 26 in first is for example fixed on described nearly dactylus 12 by steel ball ball, in this, other one end of dactylus coupling spring 27 adopts dactylus tensioned rope 28 in the 2nd to be connected, and in the 2nd, described dactylus far away 16 is fixed in other one end of dactylus tensioned rope 28.
In first, in dactylus tensioned rope the 26, the 2nd, middle dactylus coupling spring 27 is fixed on dactylus two side position far away by dactylus tensioned rope 28, and dactylus tensioned rope 26 is fixed on nearly dactylus 12 in first, in the 2nd, dactylus tensioned rope 28 is fixed on dactylus 16 far away; Tensioned lines 21 and the tendons loosening rope 22 cooperation simulation finger, its detailed process is: drive rope 20 driving the first pulley 9 to rotate, tensioned lines 21 tensioning and locking rope 22 are stretched, nearly dactylus, middle dactylus and dactylus far away are rotated and compression spring around the first turning axle 10, the 2nd turning axle 13 and the 3rd turning axle 17 respectively, completes grasping movement; When finger stretches in addition, the spring making to be compressed owing to lacking motivating force starts to reset and drives nearly dactylus, middle dactylus and dactylus reverse rotation far away, completes reset action. Above-mentioned rope for example can select the wireline of CarlStahl, and end is fixed with supporting fixing part.
In addition, for preventing pointing the hyper-extended when resetting, it is provided with mechanical limit structure at each dactylus place, wherein the contact position of metacarpophalangeal joint, nearly dactylus, middle dactylus, dactylus far away is boss in the back of the hand one side entirely, and be circular arc in palm of the hand one side, ensure that each dactylus can to palm of the hand 90-degree bent, and can not reverse bending.
As another key improvements place of the present invention, between described finger, driving mechanism is arranged on the inside of described palm, and comprise and being set up in parallel and structure is identical the first driving module and the 2nd driving module, wherein each drives module to comprise mounting plate separately and (be shown as in figure, 29 or 33), being arranged between the finger on this mounting plate drive-motor (is shown as in figure, 30 or 34), refer to that with this first gear that output terminal of a drive-motor is connected (is shown as in figure, 31 or 35), the 2nd gear (32 or 36) being meshed with this first gear, the screw mandrel being connected is kept (figure to be shown as with the 2nd gear, 39 or 44), the feed screw nut being set on this screw mandrel (is shown as in figure, 42 or 47), it is arranged on described mounting plate equally and all keeps the first parallel polished rod 37 and the 2nd polished rod 38 with described screw mandrel, it is set on the 2nd polished rod 38 slidably and keeps with described feed screw nut relative the first fixing slide block (figure to be shown as, 41 or 45), and the 2nd slide block being set in slidably on this first polished rod 37 (is shown as in figure, 40 or 46), in this way it would be possible, these slide blocks 41,45,40 and 46) respectively driving rope 20 with described forefinger, middle finger, the third finger and little finger of toe inside be connected, thus drive each finger to perform bending motion.
In addition, as shown in Figure 4, for the driving module on right side in scheming, each drives module can also comprise head rod 48, movable block 50 and the 2nd union lever 51, wherein this first, second union lever all keeps perpendicular with described screw mandrel, and head rod 48 is set in the near-end bearing of described movable block 50 to slide and can not depart from, the 2nd union lever 51 is set in the far-end bearing of described movable block slide and can not depart from.
By above design, when the first drive-motor 30 drives, first gear 31 rotarily drives the 2nd gear 32 and rotates, the first screw mandrel 39 being connected with the 2nd gear 32 rotates simultaneously, the first feed screw nut 42 is driven to do translational motion, owing to the first feed screw nut 42 is connected with the 2nd slide block 41, drive the 2nd slide block 41 to do translational motion on the 2nd polished rod 38 simultaneously, owing to the first movable block 50 is connected with the 2nd slide block 41, first movable block 50 can do translational motion, with should the 2nd drive-motor 34 drive time, the 2nd movable block 53 also can do translational motion. In addition, owing to the 2nd slide block 41 and Four-slider 46 drive the first slide block 40 and the 3rd slide block 45 to move for active sliding block by top transmission mechanism, transmission mechanism is equipped with in the first movable block 50 two sliding surface bearing, 2nd movable block 53 is equipped with a sliding surface bearing, head rod 49 can slide in the first movable block 50 near-end bearing but can not depart from, and the 2nd union lever 51 can slide in the first movable block 50 far-end sliding surface bearing and the 2nd movable block 53 sliding surface bearing and can not depart from the first movable block 50 and the 2nd movable block 53; So the first slide block 40 being connected with first, second union lever and the 3rd slide block 45 can be driven to do translational motion when the first movable block 50 moves with the 2nd movable block 53, thus drive the bending stretching that 4 driving ropes pointed have moved and pointed simultaneously.
As another key improvements place of the present invention, described thumb drives module is arranged on the inside of described palm equally, and comprise the bending module of thumb and thumb side pendulum module, the drive pulley 55 that its middle finger bending die block comprises the bending drive-motor 53 of thumb, the output shaft of drive-motor 53 bending with this thumb is connected, and the wireline conduit that wireline is equipped with in inside and its outlet aligns with the chute of this drive pulley 55 (such as, teflon pipe), in this way; The bending drive-motor of thumb impels drive pulley to rotate, and drives wireline and described the drivings rope 20 that is attached thereto to be connected, thus driving thumb execution bending motion.
Thumb side pendulum module then comprises thumb side pendulum drive-motor 62, thumb pedestal 61, bevel gear set 58 and rotating shaft 59, its middle finger pedestal 61 is fixed on thumb and palm connecting place by bearing pin, the output shaft that the driving toothed gear of bevel gear set 58 puts drive-motor 62 with thumb side is connected, its passive gear is then connected with rotating shaft 59, and this rotating shaft 59 keeps relative with thumb pedestal 61 and fixes, in this way, thumb side pendulum drive-motor rotates and drives bevel gear set and thumb pedestal, and then performs the side pendulum movement of thumb.
More specifically, the bending drive-motor 53 of thumb is fixed on palm plate 64 by motor fixed block 54, drive pulley 55 is fixed by bending drive-motor 53 output shaft of screw and thumb, catheter proximal end fixed block 56 is fixed with palm plate 63, its conduit outlet aligns with drive pulley 55 groove, rear end of conduit fixed block 60 fixes teflon pipe with thumb pedestal 61 is fixing simultaneously with catheter proximal end fixed block 56, the bending drive-motor 53 of thumb rotate drive the wireline in teflon pipe complete finger completely with stretch; Thumb side pendulum drive-motor is fixed on palm plate 64 by thumb side by motor fixed block 63, in bevel gear set 58, driving toothed gear and thumb side pendulum drive-motor 62 output shaft are fixed, driven wheel and rotating shaft 59 far-end are fixed, rotating shaft 59 is located by shaft seating 57, shaft seating 57 is fixed on palm plate 64 by screw, rotating shaft 59 near-end and thumb pedestal 61 are fixed, thumb pedestal 61 and thumb are fixed by bearing pin, thumb side pendulum drive-motor 62 rotation driven gear group 58 has rotated the side pendulum movement of thumb pedestal 61, thus completes the side pendulum movement of thumb.
In sum, drive finger to carry out bending and stretching by pulley, the change of multiple degree of freedom can be completed like this by an input, add two motors and 4 outputs are provided, only adopt two motors to complete the driving of 4 fingers in this way; In addition different rotating speeds is exported by two motors, it is possible to make finger complete different grasp motions, complex object is possessed form adaptive ability. Therefore prosthetic hand provided by the present invention, can realize multiple grasping movement on volume weight while staff, and is convenient to control, is thus particularly useful for medical machinery field.
Those skilled in the art will readily understand; the foregoing is only the better embodiment of the present invention; not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. done within the spirit and principles in the present invention, all should be included within protection scope of the present invention.
Claims (4)
1. reappear staff capture function a drive lacking prosthetic hand, this prosthetic hand comprise prosthetic hand body, finger in transmission rig, refer between drive module and thumb drives module, it is characterised in that:
Described prosthetic hand body is by palm and possesses mutually isostructural thumb, forefinger, middle finger, the third finger and little finger of toe these five fingers and jointly forms, each finger comprises metacarpophalangeal joint assembly respectively, nearly dactylus assembly, dactylus assembly far away and middle dactylus, wherein metacarpophalangeal joint assembly comprises metacarpophalangeal joint (7), it is horizontally installed on the metacarpophalangeal joint coupling shaft (8) of these metacarpophalangeal joint (7) proximal end, along the first pulley (9) that finger axial direction due is arranged on this metacarpophalangeal joint coupling shaft (8) between two parties, it is horizontally installed on first turning axle (10) of these metacarpophalangeal joint (7) far-end, and along the 2nd pulley (11) that finger axial direction due is arranged on described first turning axle (10) between two parties, nearly dactylus assembly comprises the 2nd turning axle (13) of the nearly dactylus (12) being connected with described metacarpophalangeal joint (7) far-end, nearly dactylus (12) far-end that is horizontally installed on this, and along the 3rd pulley (14) that finger axial direction due is arranged on described 2nd turning axle (13) between two parties, dactylus assembly far away comprises dactylus far away (16), the 3rd turning axle (17) of dactylus far away (16) proximal end that is horizontally installed on this, the 4th pulley (18) that is arranged on described 3rd turning axle (17) between two parties along finger axial direction due, and is set in the finger end (19) far away of dactylus far away (16) far-end, middle dactylus (15) is in cylindrical structure, and can relative be connected bendingly with dactylus far away (16) with described nearly dactylus (12) respectively at its two ends,
In described finger, transmission rig is separately positioned on the inside of above-mentioned five fingers, and comprise separately and the driving rope (20) that described first pulley (9) is connected, it is wrapped in described first pulley (9) successively, 2nd pulley (11), tensioned lines (21) on 3rd pulley (14) and the 4th pulley (18), be arranged symmetrically with described tensioned lines (21) and with it common simulation finger tendon loosen rope (22), the nearly dactylus coupling spring (24) being arranged between described 2nd pulley (11) and the 3rd pulley (14), and the middle dactylus coupling spring (27) being arranged between described 3rd pulley (14) and the 4th pulley (18), wherein, one end of this nearly dactylus coupling spring (24) is connected in one end of the first nearly dactylus tensioned rope (23), and other one end of this first nearly dactylus tensioned rope (23) is fixed on described metacarpophalangeal joint (7), other one end of this nearly dactylus coupling spring (24) is connected in one end of the 2nd nearly dactylus tensioned rope (25), and the 2nd other one end of nearly dactylus tensioned rope (25) be fixed on described middle dactylus (15), in addition, one end that one end of described middle dactylus coupling spring (27) is connected in first dactylus tensioned rope (26), and this is fixed on described nearly dactylus (12) in other one end of dactylus tensioned rope (26) in first, one end that other one end of described middle dactylus coupling spring (27) is connected in the 2nd dactylus tensioned rope (28), and in the 2nd, described dactylus far away (16) is fixed in other one end of dactylus tensioned rope (28),
Between described finger, driving mechanism is arranged on the inside of described palm, and comprise and being set up in parallel and structure is identical the first driving module and the 2nd driving module, wherein this first driving module and the 2nd driving module comprise mounting plate separately, it is arranged between the finger on this mounting plate drive-motor, the first gear that the output terminal of a drive-motor is connected is referred to this, the 2nd gear being meshed with this first gear, the screw mandrel being connected is kept with the 2nd gear, the feed screw nut being set on this screw mandrel, it is arranged on described mounting plate equally and all keeps the first parallel polished rod and the 2nd polished rod with described screw mandrel, it is set on the 2nd polished rod slidably and keeps relative the first fixing slide block with described feed screw nut, and the 2nd slide block being set in slidably on this first polished rod, in this way it would be possible, these slide blocks are connected with described driving rope (20) of described forefinger, middle finger, the third finger and little finger of toe inside respectively, each finger is thus driven to perform bending motion,
Described thumb drives module is arranged on the inside of described palm equally, and comprise the bending module of thumb and thumb side pendulum module, its middle finger bending die block comprises the drive pulley (55) that the output shaft of the bending drive-motor (53) of thumb drive-motor (53) bending with this thumb is connected, and the wireline conduit that the chute of wireline and its outlet and this drive pulley (55) aligns is equipped with in inside; In this way, described thumb bends drive-motor (53) and impels described drive pulley (55) to rotate, and drive wireline and be attached thereto be arranged on thumb inside described driving rope (20) be connected, thus drive thumb perform bending motion; Thumb side pendulum module comprises thumb side pendulum drive-motor (62), thumb pedestal (61), bevel gear set (58) and rotating shaft (59), wherein this thumb pedestal (61) is fixed on thumb and palm connecting place by bearing pin, the output shaft that the driving toothed gear of this bevel gear set (58) puts drive-motor (62) with described thumb side is connected, the passive gear of this bevel gear set (58) is then connected with described rotating shaft (59), and this rotating shaft (59) keeps relative fixing with described thumb pedestal (61); In this way it would be possible, thumb side pendulum drive-motor rotates drives bevel gear set and thumb pedestal, and then perform the side pendulum movement of thumb.
2. drive lacking prosthetic hand as claimed in claim 1, it is characterized in that, the dactylus place of each finger is also provided with mechanical position limitation mechanism, what wherein metacarpophalangeal joint, nearly dactylus, middle dactylus and dactylus far away were positioned at the back of the hand one side is boss structure, and be positioned at palm of the hand one side in globoidal structure, thus guarantee that each dactylus can to bending 90 degree of the palm of the hand.
3. drive lacking prosthetic hand as claimed in claim 1 or 2, it is characterized in that, for each driving module of driving mechanism between described finger, it also comprises head rod, movable block and the 2nd union lever, wherein this head rod, the 2nd union lever all keep perpendicular with described screw mandrel, and this head rod is set in the near-end bearing of described movable block to slide and can not depart from, the 2nd union lever is set in the far-end bearing of described movable block slide and can not depart from.
4. drive lacking prosthetic hand as claimed in claim 3, it is characterized in that, the bending module of described thumb also comprises catheter proximal end fixed block (56) and rear end of conduit fixed block (60), wherein this catheter proximal end fixed block (56) is arranged on the palm plate place forming palm main body, this rear end of conduit fixed block (60) is then arranged on described thumb pedestal place, is thus together fixed by described wireline conduit.
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| CN201410559465.0A CN104382674B (en) | 2014-10-20 | 2014-10-20 | A kind of drive lacking prosthetic hand reappearing staff crawl function |
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| CN201410559465.0A CN104382674B (en) | 2014-10-20 | 2014-10-20 | A kind of drive lacking prosthetic hand reappearing staff crawl function |
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| CN104382674A CN104382674A (en) | 2015-03-04 |
| CN104382674B true CN104382674B (en) | 2016-06-01 |
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Inventor after: Xiong Caihua Inventor after: Zhang Qiaofei Inventor after: Sun Baiyang Inventor after: Chen Wenrui Inventor after: Yan Shijie Inventor after: Mao Liao Inventor after: Hu Junqi Inventor after: Dai Yuhao Inventor after: Yuan Cheng Inventor before: Xiong Caihua Inventor before: Zhang Qiaofei Inventor before: Sun Baiyang Inventor before: Chen Wenrui Inventor before: Yan Shijie Inventor before: Mao Liao |