CN104434350A - Finger mechanism of anthropomorphic myoelectrical artificial hand - Google Patents
Finger mechanism of anthropomorphic myoelectrical artificial hand Download PDFInfo
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- CN104434350A CN104434350A CN201410682470.0A CN201410682470A CN104434350A CN 104434350 A CN104434350 A CN 104434350A CN 201410682470 A CN201410682470 A CN 201410682470A CN 104434350 A CN104434350 A CN 104434350A
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Abstract
The invention discloses a finger mechanism of an anthropomorphic myoelectrical artificial hand. The finger mechanism sequentially comprises a base, a near knuckle, a middle knuckle and a far knuckle from bottom to top and further comprises a metacarpal bone joint, a near phalanx joint, a far phalanx joint, a near driving tendon and a far driving tendon, wherein the base is in rotary connection with the near knuckle through the metacarpal bone joint, the near knuckle is in rotary connection with the middle knuckle through the near phalanx joint, and the middle knuckle is in rotary connection with the far knuckle through the far phalanx joint. The near driving tendon is connected between the near phalanx joint and the metacarpal bone joint, the far knuckle is connected between the far phalanx joint and the near phalanx joint, and the near phalanx joint and the far phalanx joint are of spring type flexible hinge structures. The finger mechanism can achieve finger bending and stretching only by needing a driving unit, adopts tendon drive to achieve coupling motions of the joints, enables a finger structure to be simple, safe and reliable by applying spring type flexible hinges, is flexible in motion and has an appropriate operating function.
Description
Technical field
The present invention relates to hand prosthesis technique field, particularly relate to based on flexible hinge design and the finger mechanism of doing evil through another person based on electromyographic signal principle design.
Background technology
EMG-controlling prosthetic hand carries out the Imitating human algorithm that controls, its good looking appearance, perfect in shape and function by human muscle's signal of telecommunication.The signal of telecommunication that electromyographic signal produces when deriving from user muscle spontaneous contractions.The signal of telecommunication that the electrode that this utilization of doing evil through another person is arranged on remaining arm muscles surface gathers to control motor, thus drives the motion of doing evil through another person.
Compliant mechanism utilizes the elastic deformation of component self to come motion and the transmission of power and the novel mechanism of conversion.Compliant mechanism mainly realizes the main movement of mechanism and function by the distortion of compliant member in mechanism, and it equally can realize moving, transmission between power and energy and conversion.Compliant mechanism with just consider that flexibility (elasticity) mechanism that the deformation of member affects studies different, it be not only rest on avoid the deformation of member to have an impact problem on, but utilize the distortion of component to improve the performance of mechanism energetically.Exactly because and in structure kinematic pair minimizing or or even cancel, the number of components of compliant mechanism is fewer than conventional rigid mechanism a lot.The advantage the most intuitively brought thus is exactly the weight of mechanism and processing, the time of installation and expense reduce greatly, simultaneously, the problem that gap in mechanism, friction, wearing and tearing and lubrication etc. are complicated greatly reduces or does not even exist, thus utilizes compliant mechanism just can improve MECHANISM PRECISION, increase reliability, reduce and safeguard.Flexible hinge has a variety of form, wherein typically has reed, torsionspring and extension spring etc.When finger does curvature movement time, the helical spring of compact winding bends within the specific limits, can produce larger displacement, and can not produce permanent distortion and torsion phenomenon.
Desirable doing evil through another person should be the same with staff in function with profile.Do evil through another person and want to substitute sensation and the motor function of staff, complete certain staff operation task, but also need similar to staff in appearance.But current existing various business is done evil through another person and also do not reached this desirable requirement far away, in life, major part can only be serve as the role that decoration type does evil through another person.The upper limb one of human body has 27 degree of freedom, and the part wherein pointed just has 21 degree of freedom.Current research level does not also accomplish to have doing evil through another person of 21 degree of freedom.Doing evil through another person of current Clinical practice, only has single degree of freedom mostly.Do evil through another person in the motion of the single degree of freedom in realization, each finger is rigidity, and not having can the dactylus of independently moving, except pointing the opening and closing campaign of palm opposite, can not realize the relative motion between finger dactylus.The finger mechanism of rigidity, ensure that finger mechanism structure of doing evil through another person is simple, it is reliable to use, but can not realize the Grasping skill of various gestures, because which limit the range of application of doing evil through another person.
Current scientific research personnel has done a lot of research to doing evil through another person, but in fact mostly does evil through another person the stage remaining and be in experiment, from commercialization with practically also have one section of very large gap.The fairly perfect commercialization of current performance is done evil through another person still the EMG-controlling prosthetic hand of just single-degree-of-freedom, open-loop control system.Compared with abroad, the research of China in doing evil through another person also has larger gap, and the university carrying out in this field researching and developing is relative with research institution less, and relevant industry is relatively backward.The current product of domestic manufacturer of doing evil through another person and rehabilitation center is done evil through another person based on decoration and mechanical traction is done evil through another person, so development EMG-controlling prosthetic hand has a wide range of applications and social benefit.
Summary of the invention
For the technical problem of above-mentioned existence, the object of the present invention is to provide a kind of finger mechanism of the novel apery myoelectricity artificial hand based on submissive hinge, provide similar staff profile, volume little, lightweight for people with disability and there is the finger mechanism of the EMG-controlling prosthetic hand of proper handling function.
In order to solve above-mentioned technical problem, the present invention by the following technical solutions:
A kind of finger mechanism of apery myoelectricity artificial hand, from bottom to top comprise pedestal, nearly dactylus, middle finger joint and dactylus far away successively, also comprise metacarpal joint, proximal phalange joint, distal phalange joint, nearly driving tendon and far drive tendon, described pedestal and nearly dactylus are rotationally connected by metacarpal joint, described nearly dactylus is connected by proximal phalange articulation with middle finger joint, and described middle finger joint is connected by distal phalange articulation with dactylus far away; Described nearly driving tendon is connected to proximal phalange joint with between metacarpal joint, realize the coupled motions that metacarpal joint is followed in proximal phalange joint, described driving tendon far away is connected to distal phalange joint with between proximal phalange joint, realize the coupled motions that proximal phalange joint is followed in distal phalange joint, described proximal phalange joint and distal phalange joint all adopt spring flexible hinge structure.
Further, the metacarpal joint side cover that described pedestal is comprised left half pedestal, right half pedestal and left half pedestal, right half pedestal is fixedly connected with by screw, what described right half pedestal laterally ran through is provided with pedestal tendon through hole, described left half pedestal, right half pedestal opposite face are provided with bearing symmetrically and install groove simultaneously, and described metacarpal joint side cover is for limiting the nearly position driving tendon.
Further, described metacarpal joint comprises turning cylinder, gear, rolling bearing, described turning cylinder is arranged in nearly dactylus circular shaft hole and nearly dactylus square hole with penetrating, comprise the collar at two ends and the circular shaft part be set in turn between described collar and square shaft portion, described circular shaft part matches with nearly dactylus circular shaft hole, described square shaft portion matches with nearly dactylus square hole, described gear is arranged at the circular shaft part of turning cylinder, described rolling bearing inner ring is installed on the axle journal place of turning cylinder, and outer ring is arranged on described bearing and installs in groove.
Further, the both sides of described nearly dactylus are provided with for the nearly dactylus tendon groove as nearly driving tendon passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole, described proximal phalange joint comprises two the nearly dactylus joint disks being arranged at both sides, nearly dactylus upper end symmetrically, two close circle extension springs be connected to abreast between nearly dactylus and middle finger joint, proximal phalange joint side cover is fixed with by screw outside two nearly dactylus joint disks, the position of described nearly dactylus upper end between two nearly dactylus joint disks is also vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, described nearly dactylus lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole and nearly dactylus square hole coaxially.
Further, described distal phalange joint comprises two the middle finger joint joint disks being arranged at both sides, middle finger joint upper end symmetrically, two close circle extension springs be connected to abreast between middle finger joint and dactylus far away, distal phalange joint side cover is fixed with by screw outside two middle finger joint joint disks, described middle finger joint both sides are provided with for the middle finger joint tendon groove as driving tendon passage far away along its length, its top and bottom are all vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, the lower end of described middle finger joint is also laterally penetratingly provided with middle finger joint tendon through hole.
Further, described dactylus upper end far away is tip portion, lower end be vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, and, laterally run through the dactylus tendon through hole far away of dactylus far away.
Further, described nearly driving tendon stage casing is embedded in nearly dactylus tendon groove, its epimere fastens in middle finger joint tendon through hole after being close to nearly dactylus joint disk, hypomere fastens after being close to right half pedestal in pedestal tendon through hole, described driving tendon stage casing far away is embedded in middle finger joint tendon groove, its epimere fastens in dactylus tendon through hole far away after being close to middle finger joint joint disk, hypomere fastens in nearly dactylus tendon through hole after being close to nearly dactylus joint disk.
Further, described nearly driving tendon and the tendon that drives far away adopt the flexible rope being made material by polyethylene fibre.
Further, described pedestal, nearly dactylus, middle finger joint, dactylus far away, distal phalange joint side cover, metacarpal joint side cover, proximal phalange joint side cover are made by aluminium alloy, and described turning cylinder is formed from steel.
Further, the middle part of described nearly dactylus, middle finger joint and dactylus far away is equipped with the cavern part for alleviating deadweight.
Compared with prior art, the present invention has following beneficial effect: the finger mechanism of apery myoelectricity artificial hand of the present invention only has one degree of freedom, only need a driver element just can realize the bending and stretching, extension pointed, tendon is adopted to drive the coupled motions realized between joint, make this finger structure simple and safe and reliable by the application of the submissive hinge of spring, motion flexibly, has suitable operating function.
Accompanying drawing explanation
Fig. 1 is the schematic front view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 2 is that schematic diagram is looked on a left side for the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 3 is the exploded perspective view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 4 is the schematic front view of the right side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 5 is that schematic diagram is looked on a left side for the right side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 6 is the schematic front view of a left side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 7 is the schematic front view of a left side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 8 is the schematic front view of the nearly dactylus of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 9 is the schematic top plan view of the nearly dactylus of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 10 is the schematic perspective view of the nearly dactylus of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 11 is the turning cylinder perspective view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 12 is the schematic front view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 13 is the schematic perspective view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 14 is the schematic top plan view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 15 is the elevational schematic view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 16 is the schematic front view of the finger mechanism dactylus far away of apery myoelectricity artificial hand involved in the present invention.
Figure 17 is the three-dimensional schematic views of the finger mechanism dactylus far away of apery myoelectricity artificial hand involved in the present invention.
Figure 18 is the structural representation of the finger mechanism of apery myoelectricity artificial hand involved in the present invention when grasping.
Shown in figure be: 1-pedestal; 2-metacarpal joint; The nearly dactylus of 3-; 4-closely drives tendon; 5-proximal phalange joint; 6-middle finger joint; 7-far drives tendon; 8-distal phalange joint; 9-dactylus far away; 10-distal phalange joint side cover; 11-metacarpal joint side cover; 12-proximal phalange joint side cover; The close circle extension spring of 13-; 14-screw; 15-turning cylinder; 16-rolling bearing; 17-gear; Right half pedestal of 18-; 19-pedestal tendon through hole; Groove installed by 20-bearing; Left half pedestal of 21-; 22-nearly dactylus joint disk; 23-nearly dactylus tendon through hole; 24-nearly dactylus tendon groove; 25-nearly dactylus circular shaft hole; 26-spring circular hole; The nearly dactylus square hole of 27-; 28-square shaft portion; 29-middle finger joint joint disk; 30-middle finger joint tendon groove; 31-middle finger joint tendon through hole; 32-tip portion; 33-dactylus tendon far away through hole.
Detailed description of the invention
Be described in further detail goal of the invention of the present invention below in conjunction with the drawings and specific embodiments, embodiment can not repeat one by one at this, but therefore embodiments of the present invention are not defined in following examples.
As shown in Figures 1 to 3, a kind of finger mechanism of apery myoelectricity artificial hand, from bottom to top comprise pedestal 1, nearly dactylus 3, middle finger joint 6 and dactylus 9 far away successively, also comprise metacarpal joint 2, proximal phalange joint 5, distal phalange joint 8, nearly driving tendon 4 and driving tendon 7 far away, described pedestal 1 is rotationally connected by metacarpal joint 2 with nearly dactylus 3, described nearly dactylus 3 is rotationally connected by proximal phalange joint 5 with middle finger joint 6, and described middle finger joint 6 is rotationally connected by distal phalange joint 8 with dactylus 9 far away; Described nearly driving tendon 4 is connected to proximal phalange joint 5 with between metacarpal joint 2, realize the coupled motions that metacarpal joint 2 is followed in proximal phalange joint 5, described driving tendon 7 far away is connected to distal phalange joint 8 with between proximal phalange joint 5, realize the coupled motions that proximal phalange joint 5 is followed in distal phalange joint 8, described proximal phalange joint 5 and distal phalange joint 8 all adopt spring flexible hinge structure.
As shown in Fig. 4 to 7, the metacarpal joint side cover 11 that described pedestal 1 is comprised left half pedestal 21, right half pedestal 18 and left half pedestal 21, right half pedestal 18 is fixedly connected with by screw, what described right half pedestal 18 laterally ran through is provided with pedestal tendon through hole 19, described left half pedestal 21, right half pedestal 18 opposite face are provided with bearing symmetrically and install groove 20 simultaneously, and described metacarpal joint side cover 11 is for limiting the nearly position driving tendon 4.
As Fig. 1 to 3, shown in Figure 11, described metacarpal joint 2 comprises turning cylinder 15, gear 17, rolling bearing 16, described turning cylinder 15 is arranged in nearly dactylus circular shaft hole 25 and nearly dactylus square hole 27 with penetrating, comprise the collar at two ends and the circular shaft part be set in turn between described collar and square shaft portion 28, described circular shaft part matches with nearly dactylus circular shaft hole 25, described square shaft portion 28 matches with nearly dactylus square hole 27, described gear 17 is arranged at the circular shaft part of turning cylinder 15, described rolling bearing 24 inner ring is installed on the axle journal place of turning cylinder 15, outer ring is arranged on described bearing and installs in groove 20.
As shown in Figures 8 to 10, the both sides of described nearly dactylus 3 are provided with for the nearly dactylus tendon groove 24 as nearly driving tendon 4 passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole 23, described proximal phalange joint 5 comprises two the nearly dactylus joint disks 22 being arranged at both sides, nearly dactylus 3 upper end symmetrically, two close circle extension springs 13 be connected to abreast between nearly dactylus 3 and middle finger joint 6, proximal phalange joint side cover 12 is fixed with by screw outside two nearly dactylus joint disks 22, the position of described nearly dactylus 3 upper end between two nearly dactylus joint disks 22 is also vertically provided with two side by side, for installing the spring circular hole 26 of close circle extension spring 13, described nearly dactylus 3 lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole 25 and nearly dactylus square hole 27 coaxially.
As shown in Figure 12 to 15, described distal phalange joint 8 comprises two the middle finger joint joint disks 29 being arranged at both sides, middle finger joint 6 upper end symmetrically, two close circle extension springs 13 be connected to abreast between middle finger joint 6 and dactylus 9 far away, distal phalange joint side cover 10 is fixed with by screw 14 outside two middle finger joint joint disks 29, described middle finger joint 6 both sides are provided with for the middle finger joint tendon groove 30 as driving tendon 4 passage far away along its length, its top and bottom are all vertically provided with two side by side, for installing the spring circular hole 26 of close circle extension spring 13, the lower end of described middle finger joint 6 is also laterally penetratingly provided with middle finger joint tendon through hole 31.
As shown in Figure 16, Figure 17, described dactylus 9 upper end far away is tip portion 25, lower end be vertically provided with two side by side, for installing the spring circular hole 26 of close circle extension spring 13, and, laterally run through the dactylus tendon through hole 33 far away of dactylus 9 far away.
Described nearly driving tendon 4 stage casing is embedded in nearly dactylus tendon groove 24, its epimere fastens in middle finger joint tendon through hole 31 after being close to nearly dactylus joint disk 22, hypomere fastens in pedestal tendon through hole 19 after being close to right half pedestal 18, described driving tendon 7 stage casing far away is embedded in middle finger joint tendon groove 30, its epimere fastens in dactylus tendon through hole 33 far away after being close to middle finger joint joint disk 29, hypomere fastens in nearly dactylus tendon through hole 23 after being close to nearly dactylus joint disk 22.
Described nearly driving tendon 4 and the tendon 7 that drives far away adopt the flexible rope being made material by polyethylene fibre, cheap, durable.
Described pedestal 1, nearly dactylus 3, middle finger joint 6, dactylus 9 far away, distal phalange joint side cover 10, metacarpal joint side cover 11, proximal phalange joint side cover 12 are made by aluminium alloy, described turning cylinder 13 is made up of 45 steel, makes finger mechanism lightweight, durable and with low cost.
The middle part of described nearly dactylus 3, middle finger joint 6 and dactylus 9 far away is equipped with the cavern part for alleviating deadweight, has both saved material, and has further alleviated again the deadweight of finger mechanism.
When the finger mechanism of above-mentioned apery myoelectricity artificial hand uses, gear 17 is connected with driver element, driver element driven gear 17 rotates, nearly dactylus 3 is driven to rotate around metacarpal joint 2 by turning cylinder 15, the rope coiling length of nearly driving tendon 4 on pedestal 1 increases, the passive minimizing of rope coiling length on nearly dactylus joint disk 22, nearly driving tendon 4 pulls middle finger joint 6 to rotate around proximal phalange joint 5, realize the coupled motions that metacarpal joint 2 rotation is followed in proximal phalange joint 5, simultaneously, driving tendon 7 far away rope coiling length on nearly dactylus joint disk 22 increases, the passive minimizing of rope coiling length on middle finger joint joint disk 29, driving tendon 7 far away pulls dactylus 9 far away finger joint style 8 of going the long way round to rotate, realize distal phalange joint 8 and follow the coupled motions of rotating in proximal phalange joint 5, realize digital flexion (see Figure 18), when driver element rotates backward, nearly dactylus 3 returns around metacarpal joint 2, nearly driving tendon 4 and the tendon 7 that drives far away relax, and proximal phalange joint 5 and distal phalange joint 8 turn back to the position (see Fig. 1) when stretching under the active force of each each bending close circle extension spring 13.Each joint side cover of the present embodiment is for limiting the position of tendon.
Proximal phalange joint 5 and distal phalange joint 8 adopt spring flexible hinge, include the close circle extension spring 13 of two isometric parallel arranged; Close circle extension spring 13 two ends in proximal phalange joint 5 connect nearly dactylus 3 and middle finger joint 6, are embedded in spring circular hole 26 that nearly dactylus 3 and middle finger joint 6 end be arranged side by side respectively; Close circle extension spring 13 two ends in distal phalange joint 8 connect middle finger joint 6 and dactylus far away 9, be embedded in spring circular hole 26 that middle finger joint 6 and dactylus far away 9 end be arranged side by side respectively, the letter of spring jujitsu hinge arrangement, easy for installation, owing to not having hinge gap, this structural reliability is high, there are wearing and tearing hardly, certain cushioning effect can be played, improve the stationarity of mechanism.
The finger mechanism of this apery myoelectricity artificial hand adopts tendon to drive the coupled motions realized between joint, this finger is made to decrease degree of freedom on the basis meeting basic function by the application of the submissive hinge of spring, only need a driver element just can realize the bending and stretching, extension pointed, structure is simple and safe and reliable, motion flexibly, has suitable operating function.
The above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (10)
1. the finger mechanism of an apery myoelectricity artificial hand, it is characterized in that, from bottom to top comprise pedestal (1) successively, nearly dactylus (3), middle finger joint (6) and dactylus far away (9), also comprise metacarpal joint (2), proximal phalange joint (5), distal phalange joint (8), nearly driving tendon (4) and far drive tendon (7), described pedestal (1) and nearly dactylus (3) are rotationally connected by metacarpal joint (2), described nearly dactylus (3) and middle finger joint (6) are rotationally connected by proximal phalange joint (5), described middle finger joint (6) and dactylus far away (9) are rotationally connected by distal phalange joint (8), described nearly driving tendon (4) is connected to proximal phalange joint (5) with between metacarpal joint (2), realize the coupled motions that metacarpal joint (2) are followed in proximal phalange joint (5), described driving tendon (7) far away is connected to distal phalange joint (8) with between proximal phalange joint (5), realize the coupled motions that proximal phalange joint (5) are followed in distal phalange joint (8), described proximal phalange joint (5) and distal phalange joint (8) all adopt spring flexible hinge structure.
2. the finger mechanism of apery myoelectricity artificial hand according to claim 1, it is characterized in that, described pedestal (1) comprises left half pedestal (21), right half pedestal (18) and by screw by left half pedestal (21), the metacarpal joint side cover (11) that right half pedestal (18) is fixedly connected with, what described right half pedestal (18) was above laterally run through is provided with pedestal tendon through hole (19), described left half pedestal (21) simultaneously, right half pedestal (18) opposite face is provided with bearing symmetrically and installs groove (20), described metacarpal joint side cover (11) is for limiting the position closely driving tendon (4).
3. the finger mechanism of apery myoelectricity artificial hand according to claim 2, it is characterized in that, described metacarpal joint (2) comprises turning cylinder (15), gear (17), rolling bearing (16), described turning cylinder (15) is arranged in nearly dactylus circular shaft hole (25) and nearly dactylus square hole (27) with penetrating, comprise the collar at two ends and the circular shaft part be set in turn between described collar and square shaft portion (28), described circular shaft part matches with nearly dactylus circular shaft hole (25), described square shaft portion (28) is matched with nearly dactylus square hole (27), described gear (17) is arranged at the circular shaft part of turning cylinder (15), described rolling bearing (24) inner ring is installed on the axle journal place of turning cylinder (15), outer ring is arranged on described bearing and installs in groove (20).
4. the finger mechanism of apery myoelectricity artificial hand according to claim 4, it is characterized in that, the both sides of described nearly dactylus (3) are provided with for as the nearly dactylus tendon groove (24) closely driving tendon (4) passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole (23), described proximal phalange joint (5) comprises two nearly dactylus joints disk (22) being arranged at nearly dactylus (3) both sides, upper end symmetrically, two close circle extension springs (13) be connected to abreast between nearly dactylus (3) and middle finger joint (6), two nearly dactylus joint disk (22) outsides are fixed with proximal phalange joint side cover (12) by screw, described nearly dactylus (3) the upper end position be positioned between two nearly dactylus joints disk (22) is also vertically provided with two side by side, for installing the spring circular hole (26) of close circle extension spring (13), described nearly dactylus (3) lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole (25) and nearly dactylus square hole (27) coaxially.
5. the finger mechanism of apery myoelectricity artificial hand according to claim 5, it is characterized in that, described distal phalange joint (8) comprises two middle finger joint joints disk (29) being arranged at middle finger joint (6) both sides, upper end symmetrically, two close circle extension springs (13) be connected to abreast between middle finger joint (6) and dactylus far away (9), two middle finger joint joint disk (29) outsides are fixed with distal phalange joint side cover (10) by screw (14), described middle finger joint (6) both sides are provided with for as the middle finger joint tendon groove (30) far driving tendon (4) passage along its length, its top and bottom are all vertically provided with two side by side, for installing the spring circular hole (26) of close circle extension spring (13), the lower end of described middle finger joint (6) is also laterally penetratingly provided with middle finger joint tendon through hole (31).
6. the finger mechanism of apery myoelectricity artificial hand according to claim 6, it is characterized in that, described dactylus far away (9) upper end is tip portion (25), lower end be vertically provided with two side by side, for installing the spring circular hole (26) of close circle extension spring (13), and, laterally run through the dactylus tendon through hole (33) far away of dactylus far away (9).
7. the finger mechanism of apery myoelectricity artificial hand according to claim 7, it is characterized in that, described nearly driving tendon (4) stage casing is embedded in nearly dactylus tendon groove (24), its epimere fastens in middle finger joint tendon through hole (31) after being close to nearly dactylus joint disk (22), hypomere fastens in pedestal tendon through hole (19) after being close to right half pedestal (18), described driving tendon (7) stage casing far away is embedded in middle finger joint tendon groove (30), its epimere fastens in dactylus tendon through hole (33) far away after being close to middle finger joint joint disk (29), hypomere fastens in nearly dactylus tendon through hole (23) after being close to nearly dactylus joint disk (22).
8. the finger mechanism of apery myoelectricity artificial hand according to claim 8, is characterized in that, described nearly driving tendon (4) and far drive tendon (7) to adopt the flexible rope being made material by polyethylene fibre.
9. the finger mechanism of apery myoelectricity artificial hand according to claim 8, it is characterized in that, described pedestal (1), nearly dactylus (3), middle finger joint (6), dactylus (9) far away, distal phalange joint side cover (10), metacarpal joint side cover (11), proximal phalange joint side cover (12) are made by aluminium alloy, and described turning cylinder (13) is made up of 45 steel.
10. the finger mechanism of the apery myoelectricity artificial hand according to any one of claim 1 to 9, it is characterized in that, the middle part of described nearly dactylus (3), middle finger joint (6) and dactylus far away (9) is equipped with the cavern part for alleviating deadweight.
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| CN201410682470.0A CN104434350B (en) | 2014-11-21 | 2014-11-21 | Finger mechanism of anthropomorphic myoelectrical artificial hand |
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| CN201410682470.0A CN104434350B (en) | 2014-11-21 | 2014-11-21 | Finger mechanism of anthropomorphic myoelectrical artificial hand |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106038005A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Mounting structure of general prosthetic fingers of prosthetic hand |
| CN110678143A (en) * | 2017-04-14 | 2020-01-10 | 医疗显微器具股份公司 | Robotic microsurgical assembly |
| CN110731842A (en) * | 2019-09-20 | 2020-01-31 | 上海健康医学院 | thumb device for pneumatic muscle actuation of a smart hand |
| CN114131644A (en) * | 2020-11-12 | 2022-03-04 | 深圳市优必选科技股份有限公司 | Mechanical arm |
| WO2022228584A1 (en) * | 2021-04-28 | 2022-11-03 | 深圳忆海原识科技有限公司 | Tendon transmission assembly |
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| CN110678143B (en) * | 2017-04-14 | 2023-10-13 | 医疗显微器具股份公司 | Robotic microsurgery assembly |
| CN110731842A (en) * | 2019-09-20 | 2020-01-31 | 上海健康医学院 | thumb device for pneumatic muscle actuation of a smart hand |
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| WO2022228584A1 (en) * | 2021-04-28 | 2022-11-03 | 深圳忆海原识科技有限公司 | Tendon transmission assembly |
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